СПОСОБ И УСТРОЙСТВО ОПРЕДЕЛЕНИЯ ОШИБКИ СДВИГА НУЛЯ КОРИОЛИСОВА ГИРОСКОПА

Изобретение относится к способу компенсации ошибок сдвига нуля Кориолисова гироскопа (1'), в котором к резонатору (2) прикладывают соответствующие возмущающие силы таким образом, что возбуждается, по меньшей мере, одно собственное колебание резонатора (2), которое отличается от вынужденного колебания и от считываемого колебания резонатора (2). Изменение в считываемом сигнале, которое представляет собой считываемые колебания и возникает в результате возбуждения, по меньшей мере, одного собственного колебания, определяют как меру ошибки сдвига нуля, что позволяет повысить точность гироскопа. 2 с. и 7 з.п. ф-лы, 2 ил.

СПОСОБ КАЛИБРОВКИ АКСЕЛЕРОМЕТРОВ

Изобретение относится к области гироприборостроения и может быть использовано в трехосных гироскопических стабилизаторах инерциальных систем (ИНС) и гирогоризонткомпасов (ГГК). Способ калибровки акселерометров заключается во включении акселерометра, выдержке интервала времени, необходимого для достижения установившегося теплового и электромагнитного состояния последовательном развороте платформы трехосного гиростабилизатора с установленным акселерометром относительно начального положения вокруг горизонтальной оси сначала в положительном, а затем в отрицательном направлении, измерении сигналов горизонтных акселерометров U1 и U2 в каждом положении и вычислении масштабного коэффициента горизонтного акселерометра по разности измерений в соответствии с формулой К=(U1-U2)/(ψ1+ψ2)g, где g - величина ускорения силы тяжести. Перед включением акселерометра дополнительно включают системы термостабилизации, стабилизации, разгона гиромоторов, управления токами датчиков момента гироскопов; согласовывают ...

СПОСОБ ОПРЕДЕЛЕНИЯ РЕЖИМОВ РАБОТЫ СИНУСНО-КОСИНУСНЫХ ДАТЧИКОВ

Предложенное изобретение относится к области приборостроения и может быть использовано при построении датчиков инклинометров, магнитных компасов и устройств, предназначенных для определения ориентации подвижных объектов. Технический результат от реализации изобретения состоит в увеличении точности измерений, а также в обеспечении возможности определения аварийных режимов работы устройств, связанных с обрывами и короткими замыканиями в цепях возбуждения синусно-косинусных датчиков. Способ определения режимов работы синусно-косинусных датчиков заключается в усилении, детектировании и аналого-цифровом преобразовании синусного и косинусного сигналов диагностируемого датчика, а также в использовании значений опорных сигналов при обработке измерительной информации. При этом определяют абсолютные значения синусного и косинусного сигналов диагностируемого датчика и сравнивают их со значениями опорных сигналов, которые соответствуют границам заданных режимов работы синусно-косинусных датчиков, в ...

СПОСОБ ДЛЯ КАЛИБРОВКИ ДАТЧИКОВ ТРАНСПОРТНОГО СРЕДСТВА С ИСПОЛЬЗОВАНИЕМ ПРИСОЕДИНЕННЫХ К БЕСПРОВОДНОЙ СЕТИ ДАТЧИКОВ, СООТВЕТСТВУЮЩИЕ ТРАНСПОРТНОЕ СРЕДСТВО И МАТЕРИАЛЬНЫЙ МАШИНОЧИТАЕМЫЙ НОСИТЕЛЬ

Группа изобретений относится к способу для калибровки датчиков транспортного средства с использованием присоединенных к беспроводной сети датчиков, транспортному средству и материальному машиночитаемому носителю. Транспортное средство, осуществляющее способ, включает в себя контроллер связи и диспетчер датчиков. Контроллер связи с возможностью обмена информацией присоединяется к сети, связанной с сооружением. Диспетчер датчиков определяет, когда транспортное средство находится поблизости от сооружения. Дополнительно, диспетчер датчиков калибрует датчики транспортного средства на основании измерительных данных датчиков, установленных на сооружении, которые с возможностью обмена информацией присоединены к сети. Обеспечивается улучшение работы датчиков транспортного средства для управления транспортным средством. 3 н. и 12 з.п. ф-лы, 3 ил.

СТЕНД ДЛЯ ИЗМЕРЕНИЯ ВИБРАЦИОННЫХ РЕАКТИВНЫХ МОМЕНТОВ ГИРОМОТОРА

Изобретение относится к измерительной технике, а именно к средствам измерения вибрационных реактивных моментов гиромоторов. Стенд содержит подвес, камеру, допускающую закрепление гиромотора экваториальной либо полярной осями вдоль оси подвеса, средство измерения вибраций в виде первого магнитоэлектрического датчика, обмотки которого закреплены в корпусе устройства в поле магнитов, установленных на оси подвеса, и состыкованы через измерительный усилитель со средством измерения сигнала и усилителем мощности, нагрузкой которого являются обмотки второго магнитоэлектрического датчика, установленного соосно с первым датчиком, подвес выполнен в виде вала, соединенного с камерой и вертикально установленного в подшипниках корпуса, расположенного на подставке; токоподводы гиромотора выполнены в виде трех пружин, противоположные концы которых через контактные платы стыкуются с камерой и корпусом стенда. Техническим результатом является повышение точности и технологичности контроля вибрационных реактивных ...

Способ восстановительного ремонта электронного зонда буровой установки горизонтально направленного бурения и восстановленный таким способом электронный зонд

Группа изобретений относится к оборудованию для контроля рабочих параметров при бурении и может быть использована для ремонта средств передачи сигналов измерения из скважины на поверхность в процессе бурения как в горизонтальных, так и в других скважинах в процессе бурения. Техническим результатом является повышение надежности и точности работы зонда после ремонта при его последующей работе. Заявляемый способ восстановительного ремонта электронного зонда заключается в том, что после замены блока датчиков пространственного положения зонда производят согласование выходов нового блока датчиков с входами блока преобразователя для восстановления заданных настроек путем реализации с помощью введенного в зонд блока сопряжения функции А=K×А’+S(A’). При этом А - набор данных по трем пространственным координатам, необходимый для корректного отображения положения зонда на дисплее приемника, А’ - тот же набор данных по трем пространственным координатам, но генерируемый новым блоком датчиков пространственного ...

УСТРОЙСТВО ОПРЕДЕЛЕНИЯ НЕПРАВИЛЬНОГО РАСПОЗНАВАНИЯ

Изобретение относится к устройству определения неправильного распознавания в группе параметров движения транспортного средства, используемых для управления вождением транспортного средства. Технический результат заключается в обеспечении возможности точного определения, происходит ли неправильное распознавание в группе параметров, которая включает в себя множество параметров движения, вычисленных на основе входных данных. Такой результат достигается за счет того, что вычисляется множество параметров движения, которые используются для управления вождением транспортного средства и основаны на входных данных, вычисляется различие между каждыми двумя из множества параметров движения, весовой коэффициент вычисляется согласно ортогональности между каждыми двумя частями входных данных в обстановке движения транспортного средства и определяется, происходит ли неправильное распознавание в группе параметров, которая включает в себя множество параметров движения, с помощью значений, каждое из которых ...

ОПТИЧЕСКИЙ СТЕНД

Изобретение относится к испытательному оборудованию для оптических приборов. Оптический стенд содержит основание, коллиматорный узел, приспособление для проверки положения по уровню поверяемого прибора с местом для его установки и контрольное приспособление, перемещаемое посредством пантографного механизма на место для установки поверяемого прибора с его позиции на стенде. Контрольное приспособление перемещается посредством пантографного механизма на место для установки поверяемого прибора с его позиции на стенде. После использования контрольное приспособление располагается на дополнительной подставке, на которую подводится соответствующим приспособлением, установленным на стенде. Достигается возможность повышения надежности измерений на стенде за счет равенства веса приспособления и поверяемого прибора. 1 з.п. ф-лы, 3 ил.

ПРОЕКЦИОННОЕ УСТРОЙСТВО ДЛЯ ФОРМИРОВАНИЯ ИЗОБРАЖЕНИЯ НА ПОЛУСФЕРИЧЕСКОЙ ПОВЕРХНОСТИ

Проекционное устройство для формирования изображения на полусферической поверхности относится к области точного приборостроения и может быть использовано при формировании изображения на сферической поверхности фотолитографическим методом. Задача изобретения: устранение возможности неравномерной засветки полусферической поверхности. Проекционное устройство для формирования изображения на полусферической поверхности наряду с лазером, оптической системой и плоским фотошаблоном дополнительно содержит диафрагму, примыкающую к плоскому фотошаблону, светопоглощающий конус вдоль оптической оси, крепящийся своим основанием к полусферической поверхности, и круглый экран, устанавливаемый на вершину конуса перпендикулярно оптической оси, причем диафрагма и круглый экран установлены с возможностью размещения и удаления в процессе формирования изображения на полусферической поверхности, проводимого в два этапа: с диафрагмой и круглым экраном. При последовательном использовании экрана и диафрагмы удается ...

СПОСОБ КОНТРОЛЯ И ПОВЕРКИ МЕТЕОРОЛОГИЧЕСКОГО ЛИДАРНОГО ОБОРУДОВАНИЯ ТИПА ОБЛАКОМЕР И УСТРОЙСТВО ДЛЯ ЕГО ОСУЩЕСТВЛЕНИЯ

Изобретение относится к области метрологии и касается способа контроля и поверки метеорологического лидарного устройства. Способ включает в себя ввод оптического зондирующего импульса через приемную оптическую систему в оптоволоконную линию временной задержки калиброванной длины и вывод через передающую оптическую систему на фотоприемник поверяемого устройства. В оптоволоконной линии временной задержки производят разделение оптической энергии зондирующего импульса. Часть энергии через оптическое волокно калиброванной длины направляют на фотоприемник поверяемого устройства, а другую часть направляют в замкнутую оптоволоконную линию временной задержки. За каждый циклический проход светового импульса осуществляют отведение части оптической энергии импульса и направление ее на фотоприемник поверяемого устройства. Таким образом, посредством замкнутой оптоволоконной линии временной задержки калиброванной длины формируют последовательность затухающих оптических импульсов, отстоящих друг от друга ...

СПОСОБ АВТОКОМПЕНСАЦИИ УХОДОВ ЭЛЕКТРОСТАТИЧЕСКОГО ГИРОСКОПА

Изобретение относится к области прецизионного приборостроения и может быть использовано при производстве и эксплуатации инерциальных систем на электростатических гироскопах. Технический результат - повышение точности. Для достижения данного результата осуществляют развороты корпуса гироскопа через равные промежутки времени на 180° относительно оси, перпендикулярной вектору кинетического момента гироскопа. Способ позволяет исключить влияние на уходы ротора электростатического гироскопа уводящих моментов, вызываемых смещением ротора вдоль оси, параллельной вектору кинетического момента ротора. 1 ил.

СПОСОБ ИСПРАВЛЕНИЯ УГЛА I ОДНОВРЕМЕННО У ТРЕХ НИВЕЛИРОВ

Для исправления угла i у нивелиров на объективе каждого нивелира крепят шкалу. Берут отсчеты по шкалам и вертикальными измерительными винтами совмещают изображения концов пузырька цилиндрического уровня. Поверяют одновременно три нивелира, расположенных в виде равностороннего треугольника. По отсчетам по шкалам противоположных нивелиров вычисляют величину разности горизонтов для трех пар нивелиров. До совмещения изображений концов пузырька цилиндрического уровня исправительными винтами каждый нивелир наводят на шкалу другого и элевационным винтом устанавливают отсчет, равный величине разности горизонтов этой пары нивелиров. Повышены точность, экономическая эффективность. 3 ил.

Устройство для контроля параметров систем стабилизации головного зеркала

Устройство для контроля параметров систем стабилизации головного зеркала, включающее расположенные последовательно автоколлимационную зрительную трубу, оптический блок, содержащий два параллельных друг другу и жестко связанных между собой плоских зеркала, первое из которых является спектроделителем и расположено под углом 45° к оси автоколлимационной зрительной трубы, основание с горизонтальной поворотной платформой, имеющей две площадки для размещения контролируемых систем стабилизации головного зеркала и установленной с возможностью вращения вокруг, по меньшей мере, одной горизонтальной оси с помощью электропривода и редуктора, электронное устройство управления электроприводом и два плоских зеркала, закрепленных на платформе, первое из которых оптически связано с автоколлимационной зрительной трубой посредством первой контролируемой системы стабилизации головного зеркала и первого плоского зеркала оптического блока, а второе - посредством второй контролируемой системы стабилизации головного ...

УСТАНОВКА ДЛЯ КАЛИБРОВКИ ИНКЛИНОМЕТРОВ

... 1. Установка для калибровки инклинометров, включающая основание с опорно-поворотным узлом, выполненным в виде подшипника скольжения, имеющего нижнюю и верхнюю части с опорными поверхностями, на верхней части которого установлена вращающаяся вокруг вертикальной оси поворотная платформа с двумя стойками, в которых размещены опорные узлы горизонтальной оси установки, в которых установлен корпус поворотных зажимных узлов, внутри которого на опорных узлах помещены сами поворотные зажимные узлы, отличающаяся тем, что в нее введен воздуховод подачи сжатого воздуха, подсоединенный через распределительный узел к сквозным от одного и более отверстиям в теле нижней части подшипника скольжения, обеспечивающим поступление сжатого воздуха в промежуток между опорными поверхностями нижней и верхней частей подшипника скольжения. ! 2. Установка по п.1, отличающаяся тем, что сжатый воздух в воздуховод подается от введенного в состав установки автономного компрессора. ! 3. Установка по п.1, отличающаяся тем ...

ОДНООСНЫЙ ДИНАМИЧЕСКИЙ СТЕНД

Полезная модель относится к области измерительной техники, а именно к испытательному оборудованию для аттестации преобразователей инерциальной информации. Одноосный динамический стенд содержит вал, электронный генератор, устройство отсчета угловых положений и скоростей, следящую систему вращения вала с датчиком угловых положений и задатчиком угловых положений и скоростей. В него введены ЭВМ, устройство управления, термокамера, фиксатор, термозащитный экран, радиатор, призма, балансировочное устройство, импульсный преобразователь напряжения, два коммутатора, синусно-косинусный вращающийся трансформатор (СКВТ), сдвоенный СКВТ. В задатчике угловых положений и скоростей выполнены буферный регистр, буферный формирователь, первое и второе постоянные запоминающие устройства, первый и второй умножающие цифро-аналоговые преобразователи, первый и второй усилители с регулируемым коэффициентом передачи, инвертор, первый и второй сдвоенные электронные ключи. Выполнены три следящие системы вращения вала ...

СИСТЕМА КОНТРОЛЯ АСИНХРОННОГО ЭЛЕКТРОДВИГАТЕЛЯ

Изобретение относится к измерительной технике и может быть использовано для контроля вращения асинхронного электродвигателя гиромотора авиагоризонта. Технический результат - повышение надежности. Для достижения данного результата устройство содержит статический преобразователь тока, коммутатор, блок контроля, цифровой компаратор, задатчик числа отказов и счетчик импульсов отказа. Статический преобразователь тока входом подключен к питающей сети, а выходом - через коммутатор к фазам асинхронного электродвигателя. Выход блока контроля подключен ко входу счетчика импульсов отказа, выход которого подключен к первому входу цифрового компаратора, второй вход которого подключен к выходу задатчика числа отказов. 1 ил.

СТЕНД ДЛЯ ПРОВЕРКИ ИНЕРЦИАЛЬНЫХ НАВИГАЦИОННЫХ СИСТЕМ

Стенд для проверки инерциальных навигационных систем, содержащий персональный компьютер (ПК), цифровое печатающее устройство (ЦПУ), а также модуль адаптера последовательного интерфейса (МА1) и плату преобразователя аналог-код (ПАК), взаимосвязанные с шиной интерфейса, узел включения питания, разовых команд и индикации (УВПРК), соединенный одновременно с МА1 и ПАК, а также блок контроля, соединенный с УВПРК, отличающийся тем, что в него дополнительно введены процессорная плата, взаимосвязанная одновременно с ЦПУ, ПК и внутренней шиной интерфейса, а также модуль адаптера мультиплексного канала (МА2), взаимосвязанный с шиной интерфейса, причем второй вход МА2 связан с выходом УВПРК.

ДВУХОСНЫЙ ПОВОРОТНЫЙ ДИНАМИЧЕСКИЙ СТЕНД

Полезная модель относится к приборостроению, в частности к измерительной технике, а именно к поворотно-динамической стендовой испытательной аппаратуре, предназначенной для крепления, установки, пространственной ориентации и аттестации объектов инерциальной и безынерциальной информации, чувствительной к угловым перемещениям.Технический результат заявленной полезной модели заключаются в расширении функциональных возможностей устройства при проведении испытаний, а также повышении точности измерений и точности позиционирования за счет углового перемещения объекта испытания по двум осям вращения.Для достижения указанного технического результата двухосный поворотный динамический стенд содержит основание, поворотный стол, наружную и внутреннюю рамы, сервопривод с энкодером, так что поворотный стол установлен на основании, наружная и внутренняя рамы расположены на поворотном столе, а сервопривод с энкодером закреплен на внутренней раме, дополнительно содержит редуктор и дополнительный сервопривод ...

СПОСОБ ИЗГОТОВЛЕНИЯ ЭЛЕКТРОДНОГО БЛОКА ГИРОКАМЕРЫ ЭЛЕКТРОСТАТИЧЕСКОГО ГИРОСКОПА И ИНСТРУМЕНТ ДЛЯ ИЗГОТОВЛЕНИЯ ЭЛЕКТРОДНОГО БЛОКА ГИРОКАМЕРЫ ЭЛЕКТРОСТАТИЧЕСКОГО ГИРОСКОПА

Изобретение может быть использовано в прецизионном приборостроении при изготовлении малогабаритных гироскопов с электростатическим подвесом. Формируют внешний и внутренний электроды с наружной и внутренней цилиндрическими поверхностями. Рабочий торец электродов имеет сферическую торцевую поверхность, а другой торец - плоскую. Заготовку внешнего электрода выполняют в виде массивного элемента. Внутренний электрод формируют сквозной проточкой массива заготовки внешнего электрода со стороны, противоположной основанию, кольцевой канавки. Закрепляют диффузионной сваркой электроды на керамическом основании. Инструмент с рабочей частью в виде трубы имеет режущую часть в виде продольного уступа стенки трубы с торцевой поверхностью в форме спирали. Наружная и внутренняя поверхности рабочей части инструмента образованы встречными конусами. Внутренний конус ориентирован большим основанием в сторону, противоположную режущей части. Обе конические поверхности пересекаются с торцевой поверхностью. Изобретение ...

Универсальный прецизионный мехатронный стенд с инерциальными чувствительными элементами для контроля гироскопических измерителей угловой скорости

Изобретение относится к области измерительной техники и может быть использовано для испытаний гироскопических измерителей угловых скоростей различного класса и принципа действия для аттестации по их статическим и динамическим характеристикам путем задания угловых скоростей как постоянных по величине, так и изменяющихся по произвольному закону. Заявлен универсальный прецизионный мехатронный стенд с инерциальными чувствительными элементами для контроля гироскопических измерителей угловой скорости, где в качестве инерциальных измерителей используются два измерителя угловой скорости и две тройки измерителей линейного ускорения (акселерометров), измеряющих тангенциальное и центростремительное ускорения точек их крепления к платформе стенда, оси чувствительности каждой тройки акселерометров расположены под углами 120 градусов друг относительно друга. В качестве первого измерителя угловой скорости используется прецизионный измеритель угловой скорости, обладающий широким диапазоном измерения угловых ...

УСТРОЙСТВО СИСТЕМЫ ВИЗУАЛЬНОГО КОНТРОЛЯ ЭЛЕКТРОШУМОВ ГИРОСКОПА НА ВИБРОСТЕНДЕ

Изобретение относится к области изготовления управляемых снарядов в серийном производстве, конкретно - к устройствам контроля электрошумов гироскопа при испытаниях на вибростенде. Сущность предлагаемого изобретения заключается в следующем. Устройство системы визуального контроля на вибростенде электрошумов в сигналах управления состоит из приспособления с плитой для закрепления его на вибростенде. При этом в корпусе приспособления закреплен испытуемый гироскоп, параллельно которому установлен электродвигатель, ось вращения которого кинематически связана с осью вращения координатора. Кроме того, входящая в состав устройства система контроля снабжена блоком формирования электрических сигналов управления снарядом, выход блока формирования соединен с электрическим входом координатора, а выходы контактных пар координатора через преобразователь соединены с персональным компьютером. Техническим результатом, достигаемым при осуществлении изобретения, является повышение надежности работы гироскопа ...

СПОСОБ РЕГУЛИРОВАНИЯ В СОСТАВЕ ГИРОСТАБИЛИЗАТОРА ДИНАМИЧЕСКИ НАСТРАИВАЕМОГО ГИРОСКОПА И ДИНАМИЧЕСКИ НАСТРАИВАЕМЫЙ ГИРОСКОП

Использование: в гироскопии при изготовлении прецизионных гироскопов и регулировании динамически настраиваемых гироскопов (ДНГ). Сущность изобретения: с целью повышения точности регулирования в ДНГ с невращающимся валом вводят регулировочный элемент, обеспечивающий создание в нем зон с двумя различными давлениями Р1 в зоне A, окружающей ротор, и Р2 в зоне вне A, создают давление Р1 в зоне A меньше Р2 не менее чем на 4 порядка, определяют регулируемую составляющую скорости ухода ДНГ в составе одноосного гиростабилизатора, увеличивают давление в зоне A до уровня Р2, повторяют создание различных давлений Р1 и Р2 и последующие операции до обнуления регулируемой составляющей скорости ухода, удаляют из гироскопа регулировочный элемент. Устройство для осуществления способа содержит ротор с упругим подвесом, установленным на валу с помощью двух корпусов, имеющих соосные оси вращения вала, соответствующие цилиндрический выступ и канавку, причем глубина канавки больше высоты выступа, а в канавке ...

СПОСОБ ИЗГОТОВЛЕНИЯ БЕРИЛЛИЕВОГО РОТОРА ЭЛЕКТРОСТАТИЧЕСКОГО ГИРОСКОПА

Изобретение относится к области точного приборостроения и может быть использовано в технике получения тонкостенных полых сферических оболочек при изготовлении роторов гироскопов. Сущность изобретения заключается в формообразовании бериллиевых полусфер с переменной толщиной стенок, наружным диаметром Dp, учитывающим припуск Δ h для уменьшения величины коэффициента разнотолщинности , где hэ и hп - максимальная толщина стенок полусфер в экваториальной плоскости разъема и минимальная в зоне полюса, сборке полусфер в сварочной оснастке с плотноприлегающими пуансонами со сферическими выемками диаметром Dп> Dp, размещении между пуансонами кольцевой вставки толщиной δ =(αp-αп)· (m-n· αp/αп)· Dp·(360K-Δ Tс), где αр и αп - температурные коэффициенты линейного расширения материалов ротора и пуансонов в интервале температур (Тс-Тсв), причем αр>αп, и 1,2≤ αp/αп≤2,6, m и n - безразмерные коэффициенты, равные (3,70± 0,05) и (1,30± 0,05) соответственно, Δ Тс=(Тсв-Тс) [К], Тсв[К] - температура сварки и ...

СПОСОБ ИЗГОТОВЛЕНИЯ РОТОРА ШАРОВОГО ГИРОСКОПА

Сущность изобретения: способ предусматривает формообразование партии полусфер с припуском Δh - на наружный диаметр, определяемый из условия Δh ≥ hп, где hэ и hп толщина стенок полусферы в экваториальной плоскости разъема и в зоне полюса, измерение увеличения высоты каждой полусферы при нагреве в интервале температур ΔTx и определении значения прогиба полюса под действием фиксированной нагрузки в области упругих деформаций и комплектовку пары полусфер ротора, исходя из того, что для этих полусфер разница указанных значений абсолютного приращения и прогиба не превышает 10%. Таким образом, минимизируется негативное влияние на точность ротора степени разнотолщинности полусфер, разницы в коэффициентах термического расширения и анизотропии упругих свойств, что весьма важно как на операциях сварки полусфер и балансировки ротора, так и при функционировании ротора в подвесе. В целом упрощается технология изготовления ротора и повышается его точность.

СИСТЕМА КОНТРОЛЯ АСИНХРОННОГО ЭЛЕКТРОДВИГАТЕЛЯ

Изобретение относится к электротехнике и может быть использовано для контроля вращения асинхронного электродвигателя, в частности гиромотора авиагоризонта. Техническим результатом является повышение надежности запуска асинхронного электродвигателя. Система контроля асинхронного электродвигателя содержит статический преобразователь тока, блок управления, генератор, блок включения, формирователь задержки, формирователь сброса. Выходы статического преобразователя тока подключены к фазным проводам асинхронного электродвигателя, блок управления подключен к двум фазным проводам асинхронного электродвигателя и к шине контроля, выход генератора подключен ко входу блока управления и к одному из входов формирователя задержки, к другому входу которого подключен формирователь сброса. Выход формирователя задержки подключен ко входу блока включения, включенному между блоком управления и статическим преобразователем тока. 1 ил.

СПОСОБ ОПРЕДЕЛЕНИЯ ПОГРЕШНОСТИ ЭЛЕКТРОСТАТИЧЕСКОГО ГИРОСКОПА

Способ может быть использован при производстве и эксплуатации электростатических гироскопов со сферическим ротором и датчиком угла, расположенным на полюсе ротора. Технический результат - повышение достоверности результатов измерений при неизменной точности измерительного стенда. В способе, основанном на измерении выходных сигналов датчиков угла поворота платформы, выходные сигналы измеряют во время переходных процессов, разворачивают платформу вокруг оси внутреннего карданова кольца на угол, определяемый по математическому выражению, представленному в описании. Затем совмещают ось вращения ротора гироскопа с продольной осью корпуса. 1 ил.

СПОСОБ ОПРЕДЕЛЕНИЯ ПОГРЕШНОСТИ ГЕОДЕЗИЧЕСКИХ ПРИБОРОВ ЗА НЕПРАВИЛЬНОСТЬ ФОРМЫ ЦАПФ И БОКОВОЕ ГНУТИЕ ЗРИТЕЛЬНОЙ ТРУБЫ

Способ определения погрешности геодезических приборов за неправильность формы цапф и боковое гнутие зрительной трубы включает закрепление на объективном конце зрительной трубы исследуемого прибора отражающего зеркала под углом 45° к визирной оси, размещение на продолжении горизонтальной оси вращения зрительной трубы исследуемого прибора марки. Причем отражающее зеркало ориентируют таким образом, чтобы оно отклоняло визирную ось в направлении, приблизительно параллельном горизонтальной оси исследуемого прибора, и при вращении зрительной трубы вокруг ее оси изображение марки не выходило из поля зрения. Далее наводят на марку и измеряют ее положения относительно перекрестья сетки зрительной трубы при различных зенитных расстояниях зрительной трубы в приеме при "круге лево" и "круге право". На основании полученных данных производят расчет погрешности. Технический результат изобретения - уменьшение трудоемкости, повышение достоверности и точности определения погрешности геодезических приборов ...

СТЕНД ДЛЯ КОНТРОЛЯ ПРЕЦИЗИОННОГО ГИРОСКОПИЧЕСКОГО ДАТЧИКА УГЛОВОЙ СКОРОСТИ

Использование: в измерительной технике, а именно в средствах контроля прецизионных гироскопических датчиков угловых скоростей. Сущность изобретения: в стенде контролируемый прецизионный гироскопический датчик угловой скорости (ДУС) одновременно использован и как чувствительный элемент стенда, в который введены усилитель стабилизации, сумматор, двигатель постоянного тока выполнен бесконтактным и фотоэлектрический муаровый датчик угла. При этом контролируемый ДУС на время контроля соединен с элементами стенда в двухконтурную систему управления двигателем, для чего выход усилителя обратной связи ДУС соединен с первым входом сумматора, с вторым входом которого соединен задатчик эталонных напряжений, выход сумматора соединен с первым входом усилителя стабилизации, первый, второй и третий выходы которого соединены с первым, вторым и третьим входами двигателя постоянного тока, первый и второй выходы которого соединены с вторым и третьим выходами усилителя стабилизации. 2 ил.

ПОВОРОТНЫЙ СТОЛ

Поворотный стол, содержащий установленную на валу в основании платформу, следящую систему с исполнительным устройством, соединенным с валом, причем следящая система содержит устройство задания угловой скорости, усилитель и устройство обратное связи, выполненное как преобразователь механической величины в электрический сигнал, отличающийся тем, что на валу установлено устройство балансировки платформы, устройство балансировки содержит первый диск, второй диск, первое кольцо, второе кольцо, третье кольцо, k грузов, первый и второй диски установлены так, что их первые торцы совмещены, внешняя поверхность первого диска выполнена из двух участков, первый участок со стороны второго торца выполнен диаметром, большим диаметра второго участка со стороны первого торца, со стороны первого торца первого диска выполнена направленная в сторону второго торца кольцевая проточка, второй диск выполнен идентичным первому диску по конфигурации и размерам, во внутренней части первого кольца выполнены последовательно ...

СПОСОБ ИЗГОТОВЛЕНИЯ ЭЛЕКТРОДНОЙ СИСТЕМЫ НА СФЕРИЧЕСКОЙ ПОВЕРХНОСТИ ВАКУУМНОЙ КАМЕРЫ ЭЛЕКТРОСТАТИЧЕСКОГО ГИРОСКОПА

Способ изготовления электродной системы на сферической поверхности вакуумной камеры электростатического гироскопа, включающий нанесение фоторезиста на сферическую поверхность, формирование на нем светового изображения с плоского фотошаблона и получение методом фотолитографии, включающим операцию экспонирования, требуемого рисунка, отличающийся тем, что операцию экспонирования проводят в расходящемся когерентном световом пучке, исходящим из точечного источника света, через плоский фотошаблон с рисунком на нем, выполненным в виде конформного отображения заданного рисунка электродной системы на полусферической поверхности, который отображается на всей поверхности полусферы с телесным углом охвата 180o в виде действительного изображения требуемой геометрической формы и размеров.

СПОСОБ ПОЛУЧЕНИЯ МАСШТАБНОГО КОЭФФИЦИЕНТА ВОЛОКОННО-ОПТИЧЕСКОГО ГИРОСКОПА

... 1. Способ получения масштабного коэффициента волоконно-оптического гироскопа (ВОГ), основанный на определении отношения величин интеграла выходного сигнала ВОГ и его углового перемещения, отличающийся тем, что угловое перемещение ВОГ осуществляют в виде его колебательного движения с заданной угловой скоростью в пределах выбранного угла качания между двумя фиксированными положениями, причем величину углового перемещения выбирают кратной величине угла качания, а величину интеграла выходного сигнала ВОГ определяют в виде интеграла модуля этого сигнала, усредненного по количеству периодов колебаний, продолжительность каждого из которых от момента начала и до конца периода определяют по моментам достижения фиксированных положений угла качания.2. Способ измерения масштабного коэффициента волоконно-оптического гироскопа (ВОГ) по п.1, отличающийся тем, что угол качания выбирают равным от 1 до 10 градусов, а угловую скорость колебательного движения задают в диапазоне 1-15 градус/сек.3. Способ измерения ...

СПОСОБ ПОДВЕСА ЧУВСТВИТЕЛЬНОГО ЭЛЕМЕНТА ГИДРОДИНАМИЧЕСКОГО ГИРОСКОПА

... 1. Способ подвеса чувствительного элемента гидродинамического гироскопа, включающий частичное заполнение камеры подвеса поплавка жидкостью, обеспечивающее аксиальную нейтральную плавучесть чувствительного элемента гироскопа, и собственное вращение подвеса, отличающийся тем, что после заполнения подвеса жидкостью устанавливают на поплавковую камеру датчик определения величины осевого ускорения, выходной сигнал которого формируют на частоте собственного вращения камеры и подают на вход блока преобразования информации, статор датчика размещают на корпусе прибора, осуществляют собственное вращение камеры относительно статора этого датчика, калибруют канал определения ускорения блока преобразования информации по величине силы инерции камеры, действующей в аксиальном направлении при аксиальном ускоренном ее перемещении, и определяют при этом величину масштабного коэффициента Км, связывающего осевое ускорение Wx и сигнал канала определения ускорения U, в момент начала перемещения основания с ускорением ...

СПОСОБ ВЫСТАВКИ РАБОЧЕГО ЗАЗОРА В ПОЛУСФЕРИЧЕСКОЙ ГАЗОДИНАМИЧЕСКОЙ ОПОРЕ

Изобретение относится к области точного приборостроения и может быть использовано при производстве прецизионных гироскопов. Способ заключается в перемещении подвижного элемента опоры до совпадения собственных частот в осевом и радиальном направлениях вращающейся на номинальных оборотах опоры. Техническим результатом является повышение равножесткости опоры.

ПОВОРОТНАЯ УСТАНОВКА

Изобретение относится к области измерительной техники, а именно к устройствам с горизонтальной осью вращения платформы, предназначенным для градуировки акселерометров. Поворотная установка содержит основание, установленную в нем платформу, n оптоэлектронных пар, усилители, коммутатор, двигатель с редуктором, диск на валу платформы, ЭВМ, аналогоцифровой преобразователь, регистры хранения и состояния, буфер входа, три шинных формирователя, четыре дешифратора, три логических устройства И, два логических устройства ИЛИ, два электронных ключа, электромагнитное реле. Оптоэлектронные пары расположены в одном ряду по радиусу от оси вала, на диске выполнено до 2n рядов отверстий, каждое отверстие расположено на одном из радиусов от оси вала, на котором расположена одна из оптоэлектронных пар, в рядах отверстия расположены в положениях, соответствующих сочетаниям от Сn1, Сn2 до Сnn-1, Сnn, в постоянном запоминающем устройстве ЭВМ записаны двоичные коды угловых положений платформы. Техническим результатом ...

СПОСОБ БАЛАНСИРОВКИ ГИРОКАМЕРЫ ДВУХСТЕПЕННОГО ПОПЛАВКОВОГО ГИРОСКОПА

Изобретение относится к области прецизионного приборостроения и может быть использовано при разработке и производстве двухстепенных поплавковых гироскопов с газодинамическим подвесом ротора гиромотора. В известном способе балансировки гирокамеры двухстепенный поплавковый гироскоп устанавливают на неподвижном основании в положение, при котором выходная ось гироскопа горизонтальна, а ось вращения ротора гиромотора вертикальна. Затем включают систему термостабилизации и систему обратной связи, нагревают гироскоп до рабочей температуры и измеряют ток в цепи датчика момента обратной связи. Далее перемещают балансировочные грузы, установленные на торце гирокамеры, вдоль оси параллельной измерительной оси гироскопа; разворачивают гироскоп вокруг выходной оси на угол 90°; измеряют ток в цепи датчика момента обратной связи; перемещают балансировочные грузы, установленные на торце гирокамеры вдоль оси, параллельной оси вращения ротора гиромотора. При этом перед началом балансировки гироскоп устанавливают ...

Способ выявления неисправностей и отказов бортовых измерителей параметров движения и спутниковых навигационных систем движущихся объектов

Изобретение относится к области навигационного приборостроения и может быть использовано в системах выявления неисправностей и отказов бортовых измерителей параметров движения (например, ДИСС, баровысотомер, радиовысотомер и др.) и спутникового навигационного оборудования движущихся объектов. Технический результат - повышение функциональной надежности. Для этого используют основные динамические свойства объекта - прогнозируется область пространства возможного местоположения объекта в момент последующих спутниковых навигационных измерений. При этом скорректированным местоположением объекта в пространстве при последующих спутниковых навигационных измерениях считается пересечение областей пространства последующих спутниковых навигационных измерений с прогнозируемыми областями. Сопоставляя и статистически анализируя области пространства последовательных спутниковых навигационных измерений местоположения объекта и прогнозируемую область пространства возможного местоположения объекта (исходя ...

СПОСОБ РЕЗОНАНСНОЙ НАСТРОЙКИ РОТОРНОГО ВИБРАЦИОННОГО ГИРОСКОПА

Изобретение относится к гироскопической технике и может быть использовано для регулирования и испытаний роторных вибрационных гироскопов. Способ включает определение резонансной скорости вращения роторного вибрационного гироскопа путем изменения частоты его вращения по линейному закону и контроля амплитуды колебаний ротора по сигналу датчика угла гироскопа. 5 ил.

СПОСОБ УСТРАНЕНИЯ ЗАЗОРОВ И ВЫСТАВКИ ОСЕЙ В УСТРОЙСТВЕ ПОВОРОТНОМ ДВУХОСНОМ

Способ устранения зазоров и выставки осей в требуемое положение в устройстве поворотном двухосном, имеющем кольцеобразные элементы и корпус, отличающийся тем, что для выставки оси устраняют зазор по оси, перпендикулярной выставляемой оси, для чего производят сборку элементов конструкции-корпуса, делительного устройства, конуса, кольцеобразных элементов, оси, втулки, с установкой с каждой стороны выставляемой оси идентичных наборов шайб, полученный набор элементов конструкции затягивают крепежными элементами, измеряют зазор между торцом втулки и торцом ступеньки оси или зазор между набором шайб и фланцем втулки, величину зазора делят пополам и на полученную величину перемещают шайбы из одного набора в другой в зависимости от местонахождения зазора относительно втулки.

Способ изготовления ротора шарового гироскопа

СПОСОБ ГРАДУИРОВКИ ДАТЧИКА АЭРОДИНАМИЧЕСКОГО УГЛА ЛЕТАТЕЛЬНОГО АППАРАТА

Изобретение относится к измерительной технике и может быть использовано для градуировки датчиков аэродинамического угла летательных аппаратов. Технический результат - повышение точности определения градуировочных характеристик. Для достижения данного результата измеряют значения местного аэродинамического угла датчиком аэродинамического угла, угол отклонения продольной связанной оси летательного аппарата в контрольной относительно земли плоскости и его земную скорость. При этом после градуировочного режима выполняют как минимум один зондирующий режим полета с целью определения средней скорости ветра. На градуировочном режиме измеряют угловую ориентацию летательного аппарата относительно земли. После завершения зондирующего и градуировочного режимов вычисляют скорость летательного аппарата как разность его земной скорости и средней скорости ветра и определяют градуировочную характеристику сопоставлением для одних и тех же моментов времени измеренного местного угла ориентации скорости набегающего ...

СПОСОБ ОПРЕДЕЛЕНИЯ СТЕПЕНИ НЕЛИНЕЙНОСТИ ГИРОСКОПИЧЕСКИХ ДАТЧИКОВ ПЕРВИЧНОЙ НАВИГАЦИОННОЙ ИНФОРМАЦИИ

Задача изобретения - определение степени нелинейности гироскопических датчиков первичной навигационной информации. Способ заключается в задании гармонических входных тестовых сигналов путем осуществления последовательности разворотов блока ЧЭ в n фиксированных положений, осуществлении в каждом из этих положений равномерного вращения блока ЧЭ с i частотами относительно оси, перпендикулярной входной оси датчика и оси разворота блока ЧЭ относительно плоскости горизонта, разрыве обратной связи в датчиках, измерении m выходных сигналов датчиков в дискретные моменты времени при прохождении чувствительными элементами датчиков их мерной базы под действием известных в месте проверки ускорений и угловых скоростей, измерении фактических углов разворота входных осей датчиков относительно плоскости горизонта, измерении фактических угловых скоростей вращения блока ЧЭ относительно оси, перпендикулярной входной оси датчика и оси разворота блока ЧЭ относительно плоскости горизонта, формировании nкоэффициентов ...

СПОСОБ И СИСТЕМА ДЛЯ ПРОВЕРКИ ФУНКЦИОНИРОВАНИЯ ИНЕРЦИАЛЬНОГО БЛОКА ДВИЖУЩЕГОСЯ ОБЪЕКТА

... 1. Способ проверки функционирования инерциального блока (3) движущегося объекта, установленного на имитаторе (2) угловых движений, причем указанный имитатор движений находится в точке с фиксированными координатами земной системы координат, а проверку правильности функционирования (F10) выполняют путем сравнения расчетной траектории движущегося объекта в реальной навигационной обстановке, по меньшей мере, с одной эталонной траекторией, при этом для получения расчетной траектории способ содержит фазу управления движущимся объектом, содержащую множество итераций, каждая из которых включает: ! - этап (Е20) получения данных с помощью имитационного инструмента (М2), на котором моделируют инерциальный блок в реальной навигационной обстановке, подавая управляющие команды (Р), вычисленные при предыдущей итерации, для получения: ! - точки (X) расчетной траектории движущегося объекта, ! - имитационных инерциальных данных (Т2), представляющих инерциальные данные, которые инерциальный блок выдавал бы ...

СПОСОБ ПОВЫШЕНИЯ ТОЧНОСТИ КАЛИБРОВКИ ТРЕХОСНЫХ ЛАЗЕРНЫХ ГИРОСКОПОВ С ОДНИМ ОБЩИМ ВИБРАТОРОМ

... 1. Способ повышения точности калибровки трехосных лазерных гироскопов с одним общим вибратором, состоящий в калибровке систематических значений параметров модели ошибок трехосного лазерного гироскопа, в том числе систематических составляющих смещения нулей, отличающийся тем, что для повышения точности калибровки систематических составляющих смещения нулей трехосного лазерного гироскопа с одним общим вибратором и, как следствие, повышения точности бесплатформенных инерциальных систем ориентации и бесплатформенных инерциальных навигационных систем на основе трехосных лазерных гироскопов с одним общим вибратором, калибровку смещений нулей трехосных лазерных гироскопов с одним общим вибратором производят не по непосредственным показаниям трехосных лазерных гироскопов - приращениям интегралов проекций вектора абсолютной угловой скорости на оси чувствительности, а по результирующей погрешности определения пространственной ориентации посредством бесплатформенной инерциальной системы ориентации ...

Способ определения погрешности двухстепенного гироблока

СПОСОБ ОПРЕДЕЛЕНИЯ МАСШТАБНОГО КОЭФФИЦИЕНТА ТВЕРДОТЕЛЬНОГО ВОЛНОВОГО ГИРОСКОПА НА ПОВОРОТНОМ СТОЛЕ

Способ определения масштабного коэффициента твердотельного волнового гироскопа на поворотном столе, включающем выбор углового промежутка для измерения прецессионного движения гироскопа, компенсации скорости дрейфа гироскопа, измерение времени прецессионного движения, определение средней скорости прецессии гироскопа на выбрагнном угловом промежутке, отличающийся тем, что устанавливают гироскоп на платформу поворотного стола и производят его запуск с последующей работой в разомкнутом режиме, равномерно вращают в одном направлении платформу поворотного стола с угловой скоростью большей проекции угловой скорости Земли на ось чувствительности гироскопа, контролируют угол поворота волны резонатора относительно корпуса гироскопа системой его датчиков угла, при достижении волной резонатора начального угла выбранного промежутка фиксируют изменения угла ориентации волны до момента достижения конечного угла выбранного промежутка, после чего изменяют направление скорости вращения платформы поворотного ...

Способ восстановительного ремонта электронного зонда буровой установки горизонтально направленного бурения и восстановленный таким способом электронный зонд

Способ высокоточной калибровки лазерных трекеров на координатно-измерительных машинах

СПОСОБ ОПРЕДЕЛЕНИЯ ЧАСТОТЫ ВРАЩЕНИЯ РОТОРА ДИНАМИЧЕСКИ НАСТРАИВАЕМОГО ГИРОСКОПА

Способ определения частоты вращения ротора динамически настраиваемого гироскопа посредством приложения момента к ротору через датчик момента одного канала коррекции и последующего измерения скорости дрейфа по сигналу в другом канале коррекции, отличающийся тем, что, с целью повышения точности, прикладывают момент с частотой, меньшей удвоенной частоты вращения ротора в пределах полосы пропускания второго канала коррекции, измеряют частоту тока в датчике момента второго канала коррекции и рассчитывают частоту вращения ротора как полусумму частот токов в первом и втором каналах коррекции.

СПОСОБ ОПРЕДЕЛЕНИЯ РЕЗОНАНСНОЙ ЧАСТОТЫ ТРЕХСТЕПЕННОГО ГИРОСКОПА С УПРУГИМ ПОДВЕСОМ

Способ определения резонансной частоты трехстепенного гироскопа с упругим подвесом, включающего два канала коррекции и датчик момента, заключающийся в возмущении по моменту в одном канале коррекции за счет ввода постоянного напряжения в этот канал, измерении изменения тока датчика момента по перекрестному каналу и измерении частоты вращения ротора, отличающийся тем, что, с целью повышения быстродействия определения резонансной частоты, измеряют изменение тока датчика момента в возмущаемом канале, измеряют постоянную времени гироскопа и рассчитывают резонансную частоту по следующей формуле: где ωр и ωв - резонансная частота и измеренная частота вращения ротора, соответственно; C - осевой момент инерции ротора; τ - постоянная времени гироскопа, определяемая при измеренной частоте вращения ротора; K - полусумма угловых жесткостей торсионов по осям подвеса; ΔIx и ΔIy - изменение токов в датчике момента соответственно по оси возмущения и ей перпендикулярной; Kx, Ky - крутизна датчика момента ...

СПОСОБ ОПРЕДЕЛЕНИЯ ОСЕВОЙ НАГРУЗКИ НА ШАРИКОПОДШИПНИКИ ГИРОДВИГАТЕЛЯ

Способ определения осевой нагрузки на шарикоподшипники гиродвигателя по изменению скорости тел качения от нагрузки, отличающийся тем, что, с целью повышения точности, измеряют изменение периода биений динамической неуравновешенности тел качения при двух положениях кинетического момента гиродвигателя относительно плоскости горизонта, причем одно положение кинетического момента вертикально и составляет по отношению к другому положению угол α, равный ...

СПОСОБ СБОРКИ ПОЛУОСЕЙ С ОСЕВЫМИ ОТВЕРСТИЯМИ С РАМОЙ КАРДАНОВА ПОДВЕСА

Способ сборки полуосей с осевыми отверстиями с рамой карданова подвеса, выполненной с элементом под шарикоподшипник и двумя идентичными соосными отверстиями под полуоси, оси симметрии которых перпендикулярны оси симметрии элемента под шарикоподшипник, включающий размещение рамы на технологическом приспособлении в виде основания с двумя соосными элементами, расположенными в плоскости, перпендикулярной вертикальной оси симметрии основания, и взаимно противоположно, причем поперечные сечения элементов технологического приспособления идентичны поперечным сечениям отверстий в полуосях, установку каждой из полуосей в раму, в соответствующее отверстие под нее, поддержание полуосей в отверстиях с использованием соосных элементов технологического приспособления, жесткую фиксацию полуосей в раме и демонтаж технологического приспособления, отличающийся тем, что, с целью повышения технологичности сборки полуосей карданова подвеса с рамой колоколообразного типа, элемент под шарикоподшипник которой выполнен ...

СПОСОБ ВЫСТАВКИ ДАТЧИКОВ УГЛА ГИРОПЛАТФОРМЫ

Способ выставки датчиков угла гироплатформы, включающий последовательные совмещения стабилизируемой и базовой осей гироплатформы и регулировку в этих положениях стабилизируемой платформы датчиков угла до получения наименьших величин сигналов на выходах этих датчиков, отличающийся тем, что, с целью повышения точности выставки датчиков путем уменьшения погрешностей, обусловленных неточностью изготовления гироплатформы и ее элементов, стабилизируемую и базовую оси гироплатформы совмещают при вращении гироплатформы вокруг базовой оси.

СПОСОБ СБОРКИ БЕСКАРДАННОГО ТРЕХСТЕПЕННОГО ГИРОСКОПА

Способ сборки бескарданного трехстепенного гироскопа, включающий сочленение ротора с корпусом и кожуха с корпусом, герметизацию, регулирование зазоров между внутренней поверхностью кожуха и ротором до достижения минимального дрейфа гироскопа и заполнение газом с пониженной относительно воздуха плотностью, отличающийся тем, что, с целью снижения трудоемкости сборки и повышения точности гироскопа, регулирование зазоров между внутренней поверхностью кожуха и ротором осуществляют до герметизации и в среде воздуха атмосферного давления, причем это регулирование осуществляют путем перемещения кожуха в радиальном относительно ротора направлении, закрепляют кожух в этом положении и одновременно герметизируют гироскоп, после чего заполняют его газом с пониженной относительно воздуха плотностью.

СПОСОБ КОНТРОЛЯ УСТАНОВКИ ГИРОДВИГАТЕЛЯ

Способ контроля установки гиродвигателя, включающий косвенное определение моментов трения в опорах при вращении ротора с одним, а затем с двумя или наоборот жестко закрепленными концами его оси и определение по измеренным динамическим параметрам гиродвигателя наличия перекосов опор, отличающийся тем, что, с целью повышения точности контроля путем исключения изменения перекосов опор в процессе контроля, определение момента трения в опорах производят путем определения изменения частоты вращения ротора в асинхронном режиме.

СПОСОБ КАЛИБРОВКИ ДАТЧИКА УГЛА ЭЛЕКТРОСТАТИЧЕСКОГО ГИРОСКОПА

Изобретение относится к области прецизионного приборостроения и может быть использовано при производстве и эксплуатации электростатических гироскопов со сферическим ротором. Указанная цель достигается тем, что в известном способе калибровки электростатического гироскопа дискретные развороты корпуса гироскопа осуществляют при его установке на платформе двухосного гибростабилизатора и включении в качестве чувствительного элемента путем поочередной подачи на вход усилителя-преобразователя соответствующей следящей системы гиростабилизатора эталонного сигнала в виде ступенчатоизменяющегося напряжения, сравнивают во время подачи каждой ступеньки ее амплитуду с амплитудой сигнала датчика угла, а измерение углового положения платформы производят в момент достижения равенства этих амплитуд.

СПОСОБ ПЕРЕДАЧИ ЕДИНИЦЫ ПЛОСКОГО УГЛА ВЫСОКОТОЧНЫМ ГЕОДЕЗИЧЕСКИМ УГЛОМЕРНЫМ ПРИБОРАМ

Изобретение относится к области обеспечения единства измерений. Особенностью заявленного способа передачи единицы плоского угла высокоточным геодезическим угломерным приборам (ГУП) является то, что поверяемый ГУП измеряет контрольные горизонтальные и вертикальные плоские углы от измерительной поверхности грани правильной многогранной призмы, установленной перед ним, до изображения сетки нитей зрительной трубы, формируемого на поверхности двух равноудаленных плоских зеркал, в горизонтальной или вертикальной плоскости, расположенных между поверяемым ГУП и правильной многогранной призмой. Технический результат заключается в обеспечении погрешности передачи единицы плоского угла высокоточным ГУП в горизонтальной и вертикальной плоскостях за счет использования в качестве эталона плоского угла правильной многогранной призмы и системы плоских зеркал. 4 ил.

СПОСОБ КОНТРОЛЯ РАБОТОСПОСОБНОСТИ БОРТОВОГО ПРИЕМОИНДИКАТОРА СПУТНИКОВОЙ РАДИОНАВИГАЦИОННОЙ СИСТЕМЫ

Изобретение относится к области радиотехники и может быть использовано при создании и модернизации средств контроля работоспособности бортового приемоиндикатора спутниковой радионавигационной системы (СРНС). Техническим результатом изобретения является повышение достоверности контроля работоспособности бортового приемоиндикатора СРНС. В заявленном способе итоговое решение о работоспособности или неработоспособности бортового приемоиндикатора формируется на основе двух частных решений о работоспособности или неработоспособности бортового приемоиндикатора, первое из которых формируется с использованием поступающих от цифровой карты местности (ЦКМ) значений высоты рельефа местности и поступающих от радиовысотомера значений относительной высоты полета летательного аппарата (ЛА), скорректированных при необходимости с учетом поступающих от датчика углового положения значений тангажа и крена ЛА. А второе частное решение формируется с использованием не зависящих от рельефа местности значений высоты ...

Стенд для измерения вибраций подшипников качения

Устройство для установки в рабочее положение приборов при наклонных опорных поверхностях крепления

Способ контроля качества упругого подвеса гироскопов

CПOCOБ БAЛAHCИPOBKИ TPEXCTEПEHHOГO ГИPOCKOПA B KAPДAHOBOM ПOДBECE

STAND TO SET ANGULAR POSITIONS

CПOCOБ OПPEДEЛEHИЯ KOЭФФИЦИEHTA УПPУГOЙ CBЯЗИ B ГИPOCKOПE C MAГHИTOPEЗOHAHCHЫM ПOДBECOM POTOPA

Устройство для испытания гироприборов

Экзаменатор для исследования характеристик измерителей наклона

Способ установки гиромотора в корпусе прибора

СПОСОБ УСТАНОВКИ ГИРОМОТОРА В КОРПУСЕ ПРИБОРА, заключающийся в жестком креплении вначале первой полуоси статора гиромотора в корпусе прибора при неразогнанном гиромоторе, а затем второй полуоси статора гиромотора в корпусе прибора, от л и ч а ю щ и и. с я тем, что, с. целью повышения точности установки гиромотора путем исключения его деформаций, после крепления первой полуоси статора гиромотора разгоняют гиромотор и крепление второй полуоси статора гиромотора в корпусе прибора осуществляют при рабочей скорости и установившемся нагреве гиромотора. СЛ ...

Устройство для контакта датчика момента

Способ балансировки трехстепенного гироскопа в кардановом подвесе

Изобретение относится к точному машиностроению , а именно к балансировке трехстепенных гироскопов. Целью изобретения является повышение точности балансировки гироскопа путем учета динамической несбалансированности наружной рамки. Это достигается тем, что сначала измеряют уход внутренней рамки при вертикальном положении оси наружной рамки. Значение этого ухода учитывают при балансировке наружной рамки. Балансировка может проводиться дополнительными грузами, размещенными на наружной рамке в плоскости XOY. 1 ил.

Устройство для поверки геодезических приборов

... 1. УСТРОЙСТВО ДЛЯ ПОВЕРКИ ГЕОДЕЗИЧЕСКИХ ПРИБОРОВ по авт. ев, W 763682, отличающееся тем, что, с целью обеспечения поверки главного условия нивелиров. ось вращения поворотного блока, совпадаю™ щая с осью коллиматора, установлена вертикально, а коллиматор, в задней главной плоскости объектива которого -«« .й.... помещена сетка нитей, вьтолнен с дополнительным отражателем на маятниковой подвеске, укрепленным с возможностью вертикального перемещения относительно положения, соответствующего половине фокусного расстояния объектива коллиматора. 2. Устройство по п. 1, отличающееся тем, что на поворотном блоке в ходе лучей между объективом коллиматора и входной призмой поворотного блока установлено с возможностью ввода н вывода вспомогательное горизонтальное зеркало, а на столике для установки поверяемого прибора установлено также с возмож- I ностью ввода и вывода второе вспомогательное полупрозрачное зеркало с отражающими участками на обеих сторонахр смещенными один относительно другого.

Способ сборки шарикоподшипника в гидродвигателе

Стенд для испытаний гироскопических приборов

СТЕНД ДЛЯ ИСПЫТАНИЙ ГИРОСКОПИЧЕСКИХ ПРИБОРОВ, содержащий основание с установленным на нем приводом , соединенным через передаточное устройство с приборной платформой , подвижно связанной через контактирующий элемент с направляющими пластинами,, отличающийся тем, что, с целью повышения точности контроля гироскопических приборов путем одновременного воспроизведения перемещений прибора по трем линейным и трем угловым направлениям, основание выполнено поворотным с возможностью вращения вокруг вертикальной оси, направляквдие пластины выполнены профилированными в поперечном и вертикальном направлениях, приборная платформа через соответствукяций контактирующий элемент связана с каждой профилированной поверхностью направляющей пластины, a передаточное устройство выполнено § в виде механизма возвратно-поступа (Л тельного движения в плоскости, перпендикулярной оси вращения основаС ния. о ел со VI ...

Устройство для заполнения гироскопических приборов жидкостью

Экзаменатор

Способ сборки разборного гиромотора

СПОСОБ СБОРКИ РАЗБОРНОГО ГИРОМОТОРА, включающий сборку гиромотора с подшипниками, смазку и прикатку его на рабочих оборотах, о тличающийся тем, что, с 7 :3 i целью повьпиения срока службы гиромотора , перед прикаткой на рабочих оборотах создают вынужденные колебания гиромотора с перегрузкой, соответствующей предварительной нагрузке на шарикоподшипники, и прикатывают гиромотор со скоростью вращения ротора , при котором гидродинамическая пленка масла в зоне контакта шариков и колец подшипников меньше высоты микронеровностей поверхностей качения , одновременно измеряя активное сопротивление подшипников, после стабилизации этого сопротивления разбирают гиромотор, прбмывают, вторично смазывают подшипники и вновь соби (Л рают гиромотор, а во время прикатки на рабочих .оборотах постоянно измеряют емкостное сопротивление подшипников , при этом прикатку на рабочих оборотах осуществляют до стабилизации этого сопротивления. 00 «йь Ф ...

Способ поверки горизонтальности визирной оси нивелира

Способ широтных испытаний гироскопов

Целью изобретения является сокращение времени испытаний и средств на их проведение. Широтные испытания гирокомпасов проводятся над центром астрономического азимута по визирной цели и состоят из двух серий запусков гирокомпаса, сравнения средних арифметических полученных результатов с эталонным значением азимута , определения инструментальных поправок и сравнения поправок для различных широт Земли. Вторая серия испытаний проводится на месте проведения первой после наклона гирокомпаса в плоскости меридиана на величину разбзпансировки чувствительного элемента в иной широте Земли ...

Устройство для динамической градуировки динамометров

Verfahren und System zum Abgleich der Einrichtungen an Bord eines Fahrzeugs, unter Verwendung von Mitteln zur Messung des irdischen Schwerefelds

Inertialsensor und computerimplementiertes Verfahren zur Selbstkalibrierung eines Inertialsensors

Die Erfindung betrifft ein computerimplementiertes Verfahren zur Selbstkalibrierung eines Inertialsensors. Das Verfahren weist folgende Schritte auf: Festlegen von Daten, die sich auf den Inertialsensor beziehen; Unterteilen der Daten in Trainingsdaten und Testdaten; Festsetzen eines ersten Ziel-Genauigkeitswertes für ein erstes künstliches neuronales Netz, das lineare Aktivierungsfunktionen aufweist; Trainieren des ersten künstlichen neuronalen Netzes mit den Trainingsdaten; Eingeben der Testdaten in das trainierte erste künstliche neuronale Netz, um einen ersten Ausgangswert des ersten künstlichen neuronalen Netzes zu erlangen; Festlegen eines ersten Output-Genauigkeitswertes basierend auf einem Vergleichsergebnis zwischen dem ersten Ausgangswert und den Testdaten; Abspeichern von Gewichtungen und der linearen Aktivierungsfunktionen des ersten künstlichen neuronalen Netzes in einer Speichereinheit des Inertialsensors, wenn der erste Output-Genauigkeitswert größer als der erste Ziel-Genauigkeitswert ...

WASSERWAAGE

VERFAHREN UND VORRICHTUNG ZUR MASSENUNGLEICHFOERMIGKEITSMESSUNG AN EINEM ROTOR, INSBESONDERE KREISEL

VERFAHREN ZUR KALIBRIERUNG DER KREISEL EINES DREIACHSENSTABILISIERTEN SATELLITEN

VERFAHREN ZUR ERMITTLUNG EINES NULLPUNKTFEHLERS IN EINEM CORIOLISKREISEL UND CORIOLISKREISEL MIT NULLPUNKTFEHLERERMITTLUNG

VERBESSERTE REINIGUNG VON FAHRZEUGSENSOREN

Die Offenbarung stellt eine verbesserte Reinigung von Fahrzeugsensoren bereit. Ein Computer beinhaltet einen Prozessor und einen Speicher, wobei der Speicher Anweisungen speichert, die durch den Prozessor ausgeführt werden können, um eine Verunreinigung auf einer Linse eines Sensors bei Erkennen einer Kraft, die auf die Linse ausgeübt wird, basierend darauf zu identifizieren, dass ein elektrischer Strom einen Schwellenwert überschreitet, und um eine Reinigungskomponente zum Entfernen der Verunreinigung von der Linse zu betätigen.

Neigungsmesser-Messsystem und Verfahren zur Korrektur von bewegungsinduzierten Beschleunigungsfehlern

System zum Erfassen der Neigung von einer Komponente relativ zur Schwerkraft, wobei die Komponente orthogonale Achsen X und Y sowie eine Z-Achse orthogonal sowohl zur X- als auch zur Y-Achse definiert, wobei die Komponente drehbar um eine Drehachse parallel zu der Z-Achse ist, umfassend: einen Neigungsmesser, der auf dieser Komponente an einer Stelle im Abstand r von der Drehachse angebracht ist, zum Bereitstellen von Neigungsmesserausgaben, die Beschleunigung in X- bzw. Y-Richtung, bezeichnet Ix bzw. Iy, angeben, eine Linie von der Drehachse zu dem Neigungsmesser, die einen eingeschlossenen Winkel B mit der X-Achse bildet, einen Sensor, der an der Plattform angebracht ist, zum Erfassen der Drehgeschwindigkeit w der Komponente um die Drehachse und Bereitstellen einer Sensorausgabe, die die Drehgeschwindigkeit w angibt, einen Schaltkreis zum Ableiten der Sensorausgabe, um die Winkelbeschleunigung der Komponente dw/dt zu bestimmen, einen Schaltkreis zum Multiplizieren der Winkelbeschleunigung ...

Verfahren zur Bestimmung und UEberwachung der Neigungsempfindlichkeit von Vertikalpendeln

Beurteilungsverfahren für Navigationssysteme

Beurteilungsverfahren mit den folgenden Schritten, a) Navigieren eines Fahrzeugs (10) unter Verwendung eines primären Navigationssystems (12) b) gleichzeitiges Ermitteln der Position des Fahrzeugs (10) unter Verwendung eines sekundären Navigationssystems (14), wobei das primäre Navigationssystem (12) zumindest vorrübergehend eine höhere Genauigkeit als das sekundäre Navigationssystem (14) aufweist c) Ermitteln eines Fehlers in der durch das sekundäre Navigationssystem (14) ermittelten Position des Fahrzeugs (10) auf Basis der durch das primäre Navigationssystem (12) ermittelten Position des Fahrzeugs (10).

Verfahren und System zur Bestimmung einer Position eines Objektes

Verfahren zur Bestimmung einer Position eines Objektes 24 in zumindest einer Ebenes eines Raums 20, insbesondere in einem Ladenlokal, umfassend Erfassen jeweils eines Bildes des Raums 20 durch zumindest zwei Kameras10, wobei ein jeweiliges Bild eine Azimutalprojektion einer Hemisphäre auf die Bildebene ist, Bestimmen eines Azimuts des Objektes 24 in einem jeweiligen Bild, Zuordnen der Position zu dem Objekt 24 unter Verwendung des bestimmten Azimuts des Objektes 24 und einer Position von zumindest zwei zuvor bestimmten Referenzpunkten 22.

Verfahren zur Detektion einer Anordnung von zumindest zwei Kameras eines Multi-Kamerasystems einer mobilen Trägerplattform zueinander und Verfahren zur Detektion einer Anordnung der Kamera zu einem Objekt außerhalb der mobilen Trägerplattform

Die Erfindung betrifft ein Verfahren zur Detektion einer Anordnung von zumindest zwei Kameras 103, 106 eines Multi-Kamerasystems 109 einer mobilen Trägerplattform 112 zueinander, wobei das Verfahren zunächst einen Schritt des Einlesens aufweist, bei dem zumindest erste Bildsignale 130 und zweite Bildsignale 133 eingelesen werden, wobei die ersten Bildsignale 130 zumindest ein Bild eines Marker-Musters 118 und einen ersten Kameraparameter 136 von einer ersten Kamera 103 und die zweiten Bildsignale 133 zumindest ein Bild eines Marker-Musters 118 und einen zweiten Kameraparameter 139 von einer zweiten Kamera 106 repräsentieren, wobei die zweite Kamera 106 in eine sich von der ersten Kamera 103 unterscheidende Blickrichtung ausgerichtet ist, wobei sich die Blickbereiche der ersten 103 und zweiten 106 Kamera zumindest teilweise überlappen, wobei ein das Marker-Muster 118 tragender Marker 115 als in einem Teilbereich des Blickbereichs der ersten 103 und zweiten 106 Kamera angeordnet eingelesen ...

Verfahren zur vereinfachten Kalibrierung einer weiteren Bilderfassungseinrichtung eines Kraftfahrzeugs

Die vorliegende Erfindung betrifft ein Verfahren zur vereinfachten Kalibrierung einer weiteren Bilderfassungseinrichtung (4) eines Kraftfahrzeugs (1), bei dem- eine kalibrierte erste Bilderfassungseinrichtung (2) mit einem ersten Sichtbereich (3) und die weitere Bilderfassungseinrichtung (4) mit einem weiteren Sichtbereich (5) sich in einem gemeinsamen Sichtbereich (6) überdecken,- die erste Bilderfassungseinrichtung (2) in dem ersten Sichtbereich (3) zumindest eine vordefinierte Bildmarke (8) einer Umgebung des Kraftfahrzeugs (1) erfasst und in eine digitale Umfeldkarte einträgt,- die weitere Bilderfassungseinrichtung (4) in dem gemeinsamen Sichtbereich (6) nach der Bildmarke (8) sucht und diese ebenfalls in die Umfeldkarte einträgt,- in der Umfeldkarte ein Lageabgleich der von der ersten Bilderfassungseinrichtung (2) und der von der weiteren Bilderfassungseinrichtung (4) erfassten und eingetragenen Bildmarke (8) erfolgt,- bei lagegleichen Bildmarken (8) keine Kalibrierung der weiteren ...

Selbstidentifizierender Kalibrierkörper mit 2D-Codes

Kalibrierkörper (1) zum Kalibrieren von Bildaufnahmesystemen mit einer von einem Bildaufnahmesystem beobachtbaren Oberfläche (2), wobei auf dieser Oberfläche (2) eine Vielzahl von ersten Bildelementen (12a, 12b, 12c) angeordnet ist, wobei wenigstens eines dieser ersten Bildelemente (12a, 12b, 12c) eine erstes dieses Bildelement (12a, 12b, 12c) identifizierendes Informationselement (14a, 14b, 14c) enthält und auch dieses Informationselement (14a, 14b, 14c) von dem Bildaufnahmesystem beobachtbar ist, dadurch gekennzeichnet, dass auf dieser Oberfläche wenigstens ein zweites Bildelement (22a, 22b, 22c) angeordnet ist, wobei wenigstens eines dieser zweiten Bildelemente (22a, 22b, 22c) ein den Kalibrierkörper (1) identifizierendes Informationselement (24a, 24b, 24c) enthält und/oder wenigstens eines dieser ersten Bildelemente ein den Kalibrierkörper (1) identifizierendes Informationselement (24a, 24b, 24c) enthält.

Three=dimensional surveying and determination of bounded travel path of vehicle esp. construction unit e.g. earth compactor

The surveying and travel path determination involves determination of the standing places of auto-theodolites (16L,16R), related to a locally fixed coordinate system associated with the terrain (12). The positions of the bearing marker (14) mounted on a vehicle (10), in the coordination system are computed using the known triangulation computing method at discrete intervals. The computed positions are recorded. The two self-aligning theodolites, with CCD cameras controlled by a computer (20), are mounted at a selected height above the terrain at any place. The standing places of the theodolites are determined with reference to a locally established coordinate system, associated with the terrain.

Method for performing calibration of inclination sensor of vehicle transmission, involves determining inclination value of vehicle to perform calibration of inclined state of vehicle in travel direction

The method involves determining and storing the inclination value of vehicle measured by inclination sensor and actual value, as correction value. The calibration of inclined state of the vehicle in travel direction is performed based on correction value.

Accelerometer-only calibration method

Method of error testing a sensor

A method of testing a sensor to detect faulty operation is carried out by intentional disturbance of the detection magnitude to be measured by the sensor and evaluation of the resulting sensor output, BB. The method comprises ascertaining, in a learning phase, the effects of the disturbance on the signal delivered by the sensor, and processing the signal BB so that the change in the sensor signal caused by the disturbance is eliminated. The processing is carried out during the testing of the sensor, and provides a cleaned signal AA representing the magnitude to be measured. The cleaned signal AA is available during continuous testing of the sensor. Sensor error may be determined from the disturbed sensor signal before processing BB, or after processing AA. Error determination from the cleaned signal may involve differentiation with respect to time.

Gyroscopic apparatus

... 1,061,769. Gyroscopic apparatus; measuring angular velocity electrically. SPERRY RAND CORPORATION. Nov. 1, 1963 [Nov. 1, 1962], No.43188/63. Headings G1C and G1N. A rate gyro comprises a rotor 10 adapted to spin about an axis in a gimbal 12 which has rotational freedom about an axis normal to the spin axis constrained by a torsion bar 14, two semi-rounds 18, 20 of magnetic material being mounted on one face of the rotor 10 with a ring 28 of electrically conductive material provided to sandwich the semi-rounds 18, 20 between it and the rotor face, so that at points near the rotor face the reluctance vanes as the rotor rotates, two electromagnets 30, 32 symmetrically arranged so as to produce, when excited, magnetic fields passing through points of varying reluctance whereby the currents in the electromagnets are modulated as'a function of rotor speed, the magnetic fields also passing through the ring 28 so that a torque is exerted tending to rotate the rotor about the axis of rotation of ...

Improvements in or relating to rotatable tables and gimballing systems

... 1,066,450. Bearings. G. H. PORATH. Dec. 9, 1963 [Dec. 10, 1962], No. 48440/63. Heading F2A. [Also in Division G1] In apparatus for testing a gyroscopic control device, a table (22a), Fig. 8 (not shown), comprising three sections (75, 76, 77) of circular profile is supported for rotation about a vertical axis by pressurized liquid 'flowing from a plurality of circumferentially-spaced sets of recesses or pressure pockets (66, 69, 70), Fig. 11 (not shown), in surfaces (63, 79, 80) of an annular body (61) attached to a base (21). The liquid is supplied to the pockets through sets of pipes (68, 71, 72) and flow-restricting passages or capillary tubes (67), the leakage liquid being removed through passages (92-95) communicating with an annular channel (81) in the base (21). Pressure gauges (73), Figs. 12 and 13 (not shown), are provided to effect balancing of the pressure in the pockets. The table carries a gimbal ring (23), Fig. 1 (not shown), wherein the device to be tested is mounted, the ...

AIRBORNE RADAR FOR SPEED MEASUREMENT

Electro-optical altimeters or like telemetric apparatus

... 965,599. Photo-electric range measurement. SOC. NATIONALE D'ETUDE ET DE CONSTRUCTION DE MOTEURS D'AVIATION. July 16, 1962 [July 20, 1961], No. 27163/62. Drawings to Specification. Heading H4D. In a photo-electric altimeter comprising a light transmitter modulated at a frequency and a photo-electric receiver and wherein altitude is determined from a knowledge of transmitterreceiver separation and measurement of the angles of depression of transmitter and receiver, the correct functioning of the altimeter is checked by periodically interrupting the transmitted light during intervals much less than the operational intervals of the altimeter. In one embodiment mirrors direct a sample of the transmitted light into the receiver for ten milliseconds every second and causes a relay to actuate a visible signal, Fig. 1 (not shown); in an alternative arrangement the mirrors are dispensed with, an auxiliary photo-cell samples the transmitted light, the sample is chopped into ten-millisecond pulses ...

Inertial sensor aided heading and positioning for gnss vehicle navigation

An apparatus and method for providing an improved heading estimate of a mobile device in a vehicle is presented. First, the mobile device determines if it is mounted in a cradle attached to the vehicle; if so, inertia sensor data may be valid. While in a mounted stated, the mobile device determines whether it has been rotated in the cradle; if so, inertia sensor data may no longer be reliable and a recalibration to determine a new relative orientation between the vehicle and the mobile device is needed. If the mobile device is mounted and not recently rotated, heading data from multiple sensors (e.g., GPS, gyroscope, accelerometer) may be computed and combined to form the improved heading estimate. This improved heading estimate may be used to form an improved velocity estimate. The improved heading estimate may also be used to compute a bias to correct a gyroscope.

Temperature detection circuit and sensor device

A temperature detection circuit capable of generating a temperature detection voltage with reduced noise level, and a sensor device using the same are provided. The temperature detection circuit includes a temperature detection voltage generator that generates a first temperature detection voltage of which the voltage level based on a reference voltage varies according to the temperature; a temperature detection voltage inverter that inverts the first temperature detection voltage on the basis of the reference voltage, and amplifies or attenuates the first temperature detection voltage to generate a second temperature detection voltage; and a temperature detection voltage adder that adds up the first temperature detection voltage and the second temperature detection voltage.

System and Method for Calibrating an Accelerometer

A method and system are provided for obtaining data for calibrating an accelerometer. The method and system operate by using at least one magnetometer reading to detect that a first orientation is being maintained; obtaining a plurality of accelerometer readings at the first orientation; using at least one magnetometer reading to detect that a plurality of additional orientations are being maintained and, for each orientation, obtaining a plurality of accelerometer readings at that orientation; determining calibration parameters comprising, for each axis of the accelerometer, at least one of a gain value and an offset value, using the plurality of accelerometer readings at the first and plurality of additional orientations; and applying the calibration parameters to subsequent accelerometer readings.

Test auxiliary device

A test auxiliary device for testing a portable data terminal having a plurality of sensors includes a base, a carrying unit, a driving unit, and a controlling unit. The carrying unit is disposed on the base and includes a carrying platform and a carrying base. The carrying platform and the carrying base form a first angle and a second angle with the base, respectively, and thereby together form a compound slope. The driving unit drives the carrying unit to move, allowing the carrying platform to move with acceleration and at an angular velocity. The controlling unit receives sensing values generated by the sensors, respectively. The test auxiliary device further includes a test matching unit for testing the sensors in operation. Accordingly, the test auxiliary device assists users in determining whether the sensors of the portable data terminal are functioning well.

Method for a measuring instrument

A method for a measuring instrument is disclosed, for separating the angular deviation of a rotational axis of an instrument body from a corresponding true rotational axis due to imperfections in at least one rolling-element bearing effectuating the rotational mounting of the instrument body into different parts corresponding to type of imperfection. The method comprises detecting rotary position of the at least one rolling-element bearing, and determining angular deviation of the rotational axis from the corresponding true rotational axis in a plurality of rotational positions of the instrument body, wherein the instrument body is rotated a plurality of successive full or partial revolutions about the rotational axis. There is also disclosed a measuring system and a measuring instrument to be used in such a measuring system.

Method for calibrating inertial sensor installed in arbitrary position on board vehicle and sensor system of dynamics of vehicle able to be installed on board in arbitrary position

A method calibrates an inertial-sensor device installed in an arbitrary position on board a vehicle and adapted to detect at least one entity indicative of vehicle dynamics along at least one direction of a local reference-coordinate system. The method includes steps of: acquiring by the inertial-sensor device at predetermined measuring times real-measured data indicative of the vehicle dynamics in the local reference-coordinate system; acquiring by a calibrating detector different from the inertial-sensor device, at sampling times coinciding with the measuring times, reference-measured data indicative of the vehicle dynamics in a vehicle-coordinate system; and generating a coordinate-transformation matrix adapted to correlate the entity measured in the local reference-coordinate system with a corresponding entity in the vehicle-coordinate system. Also, a sensor system of dynamics of the vehicle is able to be installed on board in an arbitrary position.

SENSOR AUTO-CALIBRATION

Aspects of the disclosure relate to computing technologies. In particular, aspects of the disclosure relate to mobile computing device technologies, such as systems, methods, apparatuses, and computer-readable media for improving calibration data by increasing the diversity of orientations used for generating the calibration data. In one embodiment, the computing device receives a plurality of calibration measurements associated with one or more sensors of a device, determines a degree to which the plurality of calibration measurements were captured at different orientations of the device, and determines, based on the degree, whether to update one or more calibration parameters. 1. A method comprising:receiving a plurality of calibration measurements associated with one or more sensors of a device;determining a degree to which the plurality of calibration measurements were obtained at different orientations of the device; anddetermining, based on the degree, whether to update one or more calibration parameters.2. The method of claim 1 , wherein:determining the degree to which the plurality of calibration measurements were obtained at different orientations comprises calculating an orientation entropy for the plurality of calibration measurements.3. The method of claim 2 , further comprising:in response to determining that the orientation entropy exceeds a predetermined threshold, updating the one or more calibration parameters.4. The method of claim 2 , further comprising:in response to determining that the orientation entropy is below a predetermined threshold, discarding a calibration measurement for an orientation for which a calibration measurement has been previously received without updating the one or more calibration parameters.5. The method of claim 2 , further comprising:in response to determining that the orientation entropy is below a predetermined threshold, using a calibration measurement for an orientation for which a calibration measurement has been ...

SENSOR AUTO-CALIBRATION

Aspects of the disclosure relate to computing technologies. In particular, aspects of the disclosure relate to mobile computing device technologies, such as systems, methods, apparatuses, and computer-readable media to improve the calibration data by taking into account the effects of change in temperature on motion sensors. For instance, different levels of error may be associated with a motion sensor at different temperature levels. In one implementation, the sensor measurement data associated with the various orientations at a temperature is used in determining the calibration data for that temperature. 1. A method for generating calibration data , the method comprising:detecting temperature of an operating environment for a sensor coupled to a device;determining that diversity associated with sensor measurement data at or near the temperature is below a threshold; andin response to determining that the diversity associated with the sensor measurement data at or near the temperature is below the threshold, generating the calibration data for the sensor for the detected temperature using sensor measurement data from another temperature.2. The method of claim 1 , wherein the sensor is one or more of an accelerometer claim 1 , a gyroscope or a magnetometer.3. The method of claim 1 , further comprising identifying a temperature bin from a plurality of temperature bins for the sensor using the detected temperature claim 1 , in response to detecting temperature of an operating environment for the sensor claim 1 , wherein the temperature bin comprises a range of temperatures.4. The method of claim 3 , wherein the temperature bin has one or more sensor measurements received at a temperature within the range of temperatures associated with the temperature bin.5. The method of claim 4 , wherein the generating comprises using sensor measurement data from another temperature bin.6. The method of claim 5 , further comprising lowering a weight associated with the sensor ...

GYRO SENSOR OFFSET AUTOMATIC CORRECTING CIRCUIT, GYRO SENSOR SYSTEM AND METHOD FOR AUTOMATICALLY CORRECTING OFFSET OF GYRO SENSOR

Disclosed herein are a gyro sensor offset automatic correcting circuit, a gyro sensor system, and a method for automatically correcting offset of a gyro sensor. There is provided a gyro sensor offset automatic correcting circuit, including: a signal gain controller receiving and amplifying output signals of each sensor electrode, while removing at least some of offset by a driving signal component included in each output signal by controlling a variable resistor(s); and an amplitude detector detecting the output signal of the signal gain controller to control the variable resistor(s) so that the output signal of the signal gain controller is maintained within a predetermined range. Further, there are provided a gyro sensor system including the gyro sensor offset automatic correcting circuit and a method for automatically correcting offset of a gyro sensor. 1. A gyro sensor offset automatic correcting circuit , comprising:a signal gain controller receiving and amplifying output signals of each sensor electrode, while removing at least some of offset by a driving signal component included in each output signal by controlling a variable resistor(s); andan amplitude detector detecting the output signal of the signal gain controller to control the variable resistor(s) so that the output signal of the signal gain controller is maintained within a predetermined range.2. The gyro sensor offset automatic correcting circuit according to claim 1 , wherein the signal gain controller includes:a gain adjusting unit receiving the output signals of each sensor electrode and amplifying the received output signal to have a gain adjusted by controlling the variable resistor(s); anda differential amplifying unit receiving the output of the gain adjusting unit and differentially amplifying the received output to remove at least some of the offset by the driving signal component.3. The gyro sensor offset automatic correcting circuit according to claim 2 , wherein the gain adjusting unit ...

Field interchangable boresight mounting system and calibration method

A calibration method comprises providing a mounting fixture including a tray coupled to a frame, and an alignment measurement sensor removably coupled to the tray. An angular orientation of the tray is determined using the alignment measurement sensor removably coupled to the tray in a first position. The alignment measurement sensor is then moved to a second position on the tray that is rotated from the first position, and the angular orientation of the tray is determined using the alignment measurement sensor at the second position. An axis misalignment for at least two of a pitch axis, a roll axis, or a yaw axis of the alignment measurement sensor is then calculated to determine one or more misalignment factors. The one or more misalignment factors are then applied to correct for misalignment of the alignment measurement sensor.

MACHINE SENSOR CALIBRATION SYSTEM

A sensor calibration system for a mobile machine is disclosed. The sensor calibration system may have a first machine mounted sensor disposed on the mobile machine and configured to sense a characteristic of an offboard object and to generate a corresponding signal, and a second machine mounted sensor disposed on the mobile machine and configured to sense the characteristic of the offboard object and to generate a corresponding signal. The sensor calibration system may also have a controller in communication with the first and second machine mounted sensors. The controller may be configured to compare the characteristic of the offboard object as sensed by the first machine mounted sensor to the characteristic of the offboard object as sensed by the second machine mounted sensor, and to correct subsequent signals received from the first machine mounted sensor based on the comparison. 1. A sensor calibration system for a mobile machine , comprising:a first machine mounted sensor disposed on the mobile machine and configured to sense a characteristic of an offboard object and to generate a corresponding signal;a second machine mounted sensor disposed on the mobile machine and configured to sense the characteristic of the offboard object and to generate a corresponding signal; and compare the characteristic of the offboard object as sensed by the first machine mounted sensor to the characteristic of the offboard object as sensed by the second machine mounted sensor; and', 'correct subsequent signals received from the first machine mounted sensor based on the comparison., 'a controller in communication with the first and second machine mounted sensors, the controller being configured to2. (canceled)3. The sensor calibration system of claim 1 , further including a third machine mounted sensor disposed on the mobile machine and configured to sense the characteristic of the offboard object and generate a corresponding signal claim 1 , wherein the controller is in further ...

MOVING STAGE ESTIMATION APPARATUS, METHOD AND PROGRAM

According to one embodiment, a moving state estimation apparatus includes a sensor, a storage, a first estimation unit, a second estimation unit, a calculation unit and a correction unit. The sensor detects acceleration data. The first estimation unit estimates certainty degrees of the moving states. The second estimation unit calculates orientations of the terminal based on the acceleration data, and to estimate terminal states. The calculation unit calculates reliability degrees of the moving states. The correction unit corrects the certainty degrees in accordance with the reliability degrees, to obtain corrected moving states with the certainty degrees corrected. 1. A moving state estimation apparatus comprising:a sensor configured to detect at least three-axis acceleration of a terminal as acceleration dataa storage configured to store a moving state estimation model including moving states of a user of the terminal;a first estimation unit configured to estimate certainty degrees of the moving states based on the acceleration data and the moving state estimation model, the certainty degrees indicating degrees of certainty with which the user may be in the respective moving states;a second estimation unit configured to calculate orientations of the terminal based on the acceleration data, and to estimate terminal states indicating states of the terminal, based on the orientations of the terminal and the acceleration data;a calculation unit configured to calculate reliability degrees of the moving states, the reliability degrees indicating degrees with which combinations of the moving states and the terminal states coincide with a combination of an actual moving state of the user and an actual terminal state of the terminal; anda correction unit configured to correct the certainty degrees in accordance with the reliability degrees, to obtain corrected moving states with the certainty degrees corrected.2. The apparatus according to claim 1 , wherein the terminal ...

N-use automatic calibration methodology for sensors in mobile devices

A method, system and computer readable medium for calibrating an accelerometer in a portable device is disclosed. The method, system and computer readable medium comprises receiving data from the accelerometer, and providing accelerometer samples from the data based upon one or more selection rules that adaptively selects data that satisfy certain criteria. The method system and computer readable medium also includes fitting the accelerometer samples to a mathematical mode. The method system and computer readable medium further includes providing a bias of the accelerometer based upon a center of the mathematical model.

THICKNESS MEASUREMENT APPARATUS AND METHOD THEREOF

A thickness measurement apparatus and method thereof being possible to measure an object to be inspected with required sensitivity stability and accuracy is provided. 1. A thickness measurement apparatus comprising:an ultrasonic wave transmission/reception device that receives and transmits an ultrasonic wave to/from a wall of a pipe to be inspected, covered with a heat insulation material;a support device that supports the ultrasonic wave transmission/reception device from an outer surface of the pipe to be inspected;a thickness calculation device that measures a propagation time of the ultrasonic wave received and transmitted by the ultrasonic wave transmission/reception device, and calculates a thickness of the pipe to be inspected;a calibration board of which a thickness is predetermined and more than a thickness of a dead zone of the ultrasonic wave transmission/reception device; anda calibration board adjustment device that moves the calibration board between a gap between the ultrasonic wave transmission/reception device and the outer surface of the pipe to be inspected and the position being different from the gap.2. The thickness measurement apparatus according to claim 1 , wherein the support device is fixed to the heat insulation material.3. The thickness measurement apparatus according to claim 1 , wherein the ultrasonic wave transmission/reception device includes an electromagnetic acoustic transducer.4. The thickness measurement apparatus according to claim 1 , wherein the ultrasonic wave transmission/reception device includes an ultrasonic wave probe including an ultrasonic wave vibrator.5. The thickness measurement apparatus according to claim 1 , further comprising a heat radiation device of which one end is contacted with an outer surface of the heat insulation material and another end is contacted with the support device claim 1 ,wherein the heat radiation device radiates a heat generated from the ultrasonic wave transmission/reception device ...

METHOD AND ARRANGEMENT FOR DETERMINING ALTITUDE

The invention relates to a portable electronic device and method for determining altitude. The device can comprise a satellite-positioning sensor for determining the elevation of the device on the basis of satellite data, a barometric sensor for measuring atmospheric-pressure information and/or an acceleration sensor for measuring acceleration information, and means for determining the altitude reading on the basis of the satellite-based elevation and the atmospheric-pressure and/or acceleration information. According to the invention, the means for determining the altitude reading are arranged to calculate a corrected altitude reading with the aid of the rate of change in elevation determined at least partly on the basis of the elevation determined on a satellite basis and atmospheric-pressure and/or acceleration information. With the aid of the invention, the altitude profile of exercise can be measured precisely. 1. A system for determining altitude comprising:a portable electronic device;a satellite-positioning sensor coupled to the device, the satellite-positioning sensor configured for determining a satellite-based elevation of the device on the basis of satellite data;at least one of a barometric sensor coupled to the device and an acceleration sensor coupled to the device, the barometric sensor configured for measuring atmospheric-pressure information at the device, the acceleration sensor configured for measuring acceleration information of the device; anda processor coupled to the device, the processor configured for determining an altitude reading on the basis of the satellite-based elevation, and at least one of the atmospheric-pressure information and the acceleration information, the processor arranged to calculate a corrected altitude reading with the aid of a rate of change of the elevation determined at least partly on the basis of a satellite-based determined elevation and at least one of the atmospheric pressure information and the acceleration ...

METHOD AND A SYSTEM FOR HARMONIZING A FRAME OF REFERENCE OF AN ANGULAR POSITIONER RELATIVE TO A TERRESTRIAL FRAME OF REFERENCE

A method for harmonizing a frame of reference of an angular positioner to receive a moving body relative to the terrestrial frame of reference, the angular positioner carrying a measurement device for taking inertial measurements of the moving body, the method includes obtaining, using inertial measurements taken by a measurement device on-board the angular positioner during at least one predetermined operating period, values representative of a local magnitude of gravity as perceived by the measurement device and/or of a speed of rotation of the earth, the angular positioner being held stationary during the at least one operating period; evaluating, using the obtained values, at least one angular bias affecting the frame of reference of the positioner; and harmonizing the frame of reference of the positioner relative to the terrestrial frame of reference by compensating for the at least one angular bias as evaluated in this way. 1. A harmonization method for harmonizing a frame of reference of an angular positioner suitable for receiving a moving body or a flying vehicle relative to the terrestrial frame of reference , said angular positioner carrying a measurement device for taking inertial measurements of said moving body or flying vehicle , the method comprising:obtaining, inertial measurements taken by the measurement device during at least one predetermined operating period, values representative of a local magnitude of gravity as perceived by the measurement device and/or of a speed of rotation of the earth, the angular positioner being held stationary during said at least one operating period with the values representative of a local magnitude of gravity as perceived by the measurement device and/or of a speed of rotation of the earth being obtained by summing said inertial measurements taken over said at least one operating period;evaluating, using the obtained values, at least one angular bias affecting the frame of reference of the positioner; ...

ESTIMATION OF CONVENTIONAL INERTIAL SENSOR ERRORS WITH ATOMIC INERTIAL SENSOR

Embodiments described herein provide for a method for obtaining an inertial measurement. The method includes obtaining multiple contiguous high sample rate readings during a time period from a conventional inertial sensor. Non-contiguous low sample rate reading of accumulated motion are also obtained over the time period from an atomic inertial sensor. One or more observable errors are estimated for the conventional inertial sensor based on comparing the low sample rate reading to the multiple high sample rate readings. A compensated hybrid reading is determined by compensating the high sample rate readings for the one or more observable errors based on the estimating of the one or more observable errors. 1. A method for obtaining an inertial measurement comprising:obtaining multiple contiguous high sample rate readings during a time period from a conventional inertial sensor;obtaining a non-contiguous low sample rate reading of accumulated motion over the time period from an atomic inertial sensor;estimating one or more observable errors for the conventional inertial sensor based on comparing the low sample rate reading to the multiple high sample rate readings; anddetermining a compensated hybrid reading by compensating the high sample rate readings for the one or more observable errors based on the estimating of the one or more observable errors.2. The method of claim 1 , wherein the one or more observable errors include one or more of bias claim 1 , a scale factor claim 1 , scale factor nonlinearities claim 1 , and input axis alignments.3. The method of claim 1 , wherein estimating includes using a Kalman filter to estimate the one or more observable errors and to determine a compensated hybrid reading.4. The method of claim 1 , wherein the time period is longer than a time period in which the separated atom clouds of the atomic inertial sensor accumulate a wavelength of phase difference; andresolving ambiguity of the phase difference of the second reading with ...

Multiple data sources pedestrian navigation system

A method of pedestrian navigation, based on an external positioning system and a Dead Reckoning (DR) system is provided herein. The method may employ the following steps: obtaining external positioning readings from an external positioning source and DR position readings from a pedestrian-carried platform; estimating an external positioning error, based at least partially on the external positioning and the DR position readings; and applying an estimation function to the external position readings, the DR position readings, and the external positioning errors, to yield a corrected estimated position.

APPARATUSES AND METHODS FOR MAGNETOMETER ALIGNMENT CALIBRATION WITHOUT PRIOR KNOWLEDGE OF THE LOCAL MAGNETIC FIELD

Apparatuses and methods calibrate attitude dependent magnetometer alignment parameters of a magnetometer mounted together with other angular position sensors on a device without prior knowledge of the local magnetic field and allowing a constant but unknown offset of the yaw angle in the reference attitudes with respect to an earth-fixed coordinate system. The method includes acquiring magnetic field measurements from the magnetometer and corresponding estimated angular positions subject to an unknown yaw offset relative to a gravitational reference system. The method further includes iteratively computing a scale and vector components of a quaternion representing a misalignment matrix, an inclination angle of local magnetic field, and a yaw angle offset, using an extended Kalman filter (EKF) infrastructure with a specific designed model and constraints, based on the magnetic field measurements and the corresponding estimated angular positions. 1. A method for calibrating attitude dependent magnetometer alignment parameters of a magnetometer mounted together with other angular position sensors on a device , the method comprising:acquiring magnetic field measurements from the magnetometer and corresponding estimated angular positions subject to an unknown yaw offset relative to a gravitational reference system; anditeratively computing a scale and vector components of a quaternion representing a misalignment matrix, an inclination angle of local magnetic field, and a yaw angle offset using an extended Kalman filter (EKF) infrastructure with a specific designed model and constraints, based on the magnetic field measurements and the corresponding estimated angular positions.3. The method of claim 2 , wherein the error covariance matrix of the process model of EKF is updated dynamically by multiplying a baseline constant matrix witha first factor depending on an angle difference between estimated misalignment angles between of a current system state and of a system ...

Inertial sensor mode tuning circuit

This document discusses, among other things, an mode matching circuit for a inertial sensor including an oscillator circuit configured to selectively couple to a sense axis of an inertial sensor and to provide sense frequency information of the sense axis, a frequency comparator configured to receive the sense frequency information of the sense axis and drive frequency information of the inertial sensor, and to provide frequency difference information to a processor, and a programmable bias source configured to apply a bias voltage to the sense axis to set a sense frequency of the sense axis in response to a command from the processor, and to maintain a desired frequency difference between the sense frequency and a drive frequency of the inertial sensor.

Information processing apparatus, information processing method, and program

There is provided an information processing apparatus including a traveling pitch acquiring section configured to acquire a current traveling pitch, and a speed acquiring section configured to acquire a current traveling speed extracted from an association table showing correspondence between a traveling pitch and a traveling speed based on the current traveling pitch.

Compass calibration

A system, method, and computer program product are provided for calibrating a sensor device, such as an accelerometer, gyroscope, and/or magnetometer. The sensor device provides measurements, and a determination if the sensor device is in a steady state is made based at least partly on the measurements. If the sensor device is in a steady state then measurement data is stored in a memory, and the sensor device is calibrated at least partly with the stored data. A set of such steady points is gathered with the sensor device in various spatial orientations, preferably with the steady point orientations spaced appropriately apart to ensure precise calibration throughout the range of possible orientations. Calibration parameters are determined by fitting the set of steady point measurements to an ellipsoid. Active audio and visual guidance may be provided to a user to assist with orienting the sensor device during calibration.

SENSOR DEVICE, MANUFACTURING METHOD OF SENSOR DEVICE AND ELECTRONIC APPARATUS

A sensor device includes a first sensor element which detects an angular velocity around z axis and a second sensor element which detects an angular velocity around x axis, the relationship fd>fd and fmfd and fmfs and fd>fs is satisfied, when a detection frequency of the first sensor element is set to fs and a detection frequency of the second sensor element is set to fs.'}5. The sensor device according to claim 1 ,wherein the first sensor element and the second sensor element each ...

MEMS DEVICE AUTOMATIC-GAIN CONTROL LOOP FOR MECHANICAL AMPLITUDE DRIVE

This document discusses, among other things, apparatus and methods for digital automatic gain control for driving a MEMS device, such as a proof mass. In an example, an apparatus can include a driver configured to oscillate a proof mass of a MEMS device, a charge-to-voltage (C2V) converter configured to provide oscillation information of the proof mass, an analog-to-digital converter (ADC) configured to provide a digital representation of the oscillation information, and a digital, automatic gain control circuit to provide oscillation amplitude error information using a comparison of the oscillation information to target amplitude information, and to provide a digital drive command signal using an amplified representation of the oscillation amplitude error information. 1. An apparatus comprising:a driver configured to oscillate a proof mass of a MEMS gyroscope;a charge-to-voltage (C2V) converter configured to receive a sense signal from a MEMS gyroscope and to provide oscillation information of the proof mass;an analog-to-digital converter (ADC) configured to receive the oscillation information of the proof mass and to provide a digital representation of the oscillation information; anda digital, automatic gain control circuit configured to receive the digital representation of the oscillation information, to provide oscillation amplitude error information using a comparison of the oscillation information to target amplitude information, and to provide a digital drive command signal using an amplified representation of the oscillation amplitude error information.2. The apparatus of claim 1 , wherein the ADC is configured to provide the digital representation of the sense signal using a single-bit data stream.3. The apparatus of claim 2 , wherein the digital claim 2 , automatic gain control circuit includes a down-sample module to receive the single-bit data stream and provide a second digital representation of the sense signal using a first multi-bit data stream.4. ...

MEMS DEVICE QUADRATURE SHIFT CANCELLATION

This document discusses, among other things, apparatus and methods quadrature cancelation of sense information from a micro-electromechanical system (MEMS) device, such as a MEMS gyroscope. In certain examples, a quadrature correction apparatus can include a drive charge-to-voltage (C2V) converter configured to provide drive information of a proof mass of a MEMS gyroscope, a sense C2V converter configured to provide sense information of the proof mass, a phase-shift module configured to provide phase shift information of the drive information, a drive demodulator configured to receive the drive information and the phase shift information and to provide demodulated drive information, a sense demodulator configured to receive the sense information and the phase shift information and to provide demodulated sense information, and wherein the quadrature correction apparatus is configured to provide corrected sense information using the demodulated drive information and the demodulated sense information. 1. A quadrature correction apparatus comprising:a drive charge-to-voltage (C2V) converter configured to provide drive information of a proof mass of a MEMS gyroscope;a sense C2V converter configured to provide sense information of the proof mass;a phase-shift module configured to provide phase shift information of the drive information;a drive demodulator configured to receive the drive information and the phase shift information and to provide demodulated drive information;a sense demodulator configured to receive the sense information and the phase shift information and to provide demodulated sense information; andwherein the quadrature correction apparatus is configured to provide corrected sense information using the demodulated drive information and the demodulated sense information.2. The apparatus of claim 1 , including:a summing node configured to provide the corrected sense information using the demodulated drive information and the demodulated sense information. ...

MEMS QUADRATURE CANCELLATION AND SIGNAL DEMODULATION

In certain examples, a quadrature cancellation apparatus can include a drive charge amplifier configured to couple to a proof mass of a MEMS device and to provide oscillation motion information, a first sense charge amplifier configured to couple to the proof mass and to provide first sense information of a first movement of the MEMS device, a first programmable amplifier configured to receive the oscillation motion information and provide amplified oscillation motion information, a first summer configured to cancel quadrature error of the first sense information using the first sense information and the amplified oscillation motion information to provide quadrature-corrected first sense information, a phase shifter configured to receive the oscillation motion information and to provide carrier information, and a first multiplier configured to provide demodulated first sense information using the quadrature-corrected first sense information and the carrier information. 1. A quadrature cancellation apparatus comprising:a drive charge amplifier configured to couple to a proof mass of a MEMS device and to provide oscillation motion information;a first sense charge amplifier configured to couple to the proof mass and to provide first sense information of a first movement of the MEMS device;a first programmable amplifier configured to receive the oscillation motion information and provide amplified oscillation motion information;a first summer configured to cancel quadrature error of the first sense information using the first sense information and the amplified oscillation motion information to provide quadrature-corrected first sense information;a phase shifter configured to receive the oscillation motion information and to provide carrier information; anda first multiplier configured to provide demodulated first sense information using the quadrature-corrected first sense information and the carrier information.2. The apparatus of claim 1 , including a first baseband ...

Vibrating gyroscope and corresponding manufacturing process

The invention relates to a vibrating gyroscope ( 1 ), characterised in that it comprises a base ( 2 ), a resonator ( 3 ) comprising a body ( 4 ) of generally cylindrical shape terminating in a distal face ( 5 ), to the side opposite the base ( 2 ), said face ( 5 ) comprising at least one through hole ( 13 ), a plurality of piezoelectric elements ( 10 ) placed in contact with the resonator ( 3 ), vibration control and processing modules ( 18 ) arranged at least in part on the base ( 2 ), and at least one electrical connection ( 15 ) passing through the body ( 4 ) of the resonator ( 3 ) via said hole ( 13 ), and electrically connecting said modules ( 18 ) of the base ( 2 ) and the plurality of piezoelectric elements ( 10 ) for controlling and measuring the vibration of the resonator ( 3 ).

MODE-MATCHED SINGLE PROOF-MASS DUAL-AXIS GYROSCOPE AND METHOD OF FABRICATION

A single proof-mass, dual-axis gyroscope apparatus comprises a resonating body member and first and second electrodes each capacitively coupled to the resonating body member by a respective lateral capacitive air gap and a vertical capacitive air gap. The width of one of the lateral capacitive air gap of the first electrode is substantially smaller than the vertical capacitive air gap. The width of one of the vertical capacitive air gap of the second electrode is substantially smaller than the lateral capacitive air gap. The apparatus claimed can address the process variation such as vertical and lateral dimension variation by electrostatic tuning method. 1. A single proof-mass , dual-axis gyroscope apparatus comprising:a resonating body member;first and second electrodes each capacitively coupled to the resonating body member by a respective lateral capacitive dielectric gap and a vertical capacitive dielectric gap; andwherein a width of one of the lateral capacitive dielectric gap and the vertical capacitive dielectric gap of the first electrode is substantially smaller than that of a similar dielectric gap of the second electrode.2. The apparatus of claim 1 , wherein the resonating body member is connected to a central structure.3. The apparatus of claim 2 , wherein the resonating body member is supported by at least one support member connecting the resonating body member to the central structure.4. The apparatus of claim 1 , wherein the resonating body member is an annulus.5. The apparatus of claim 1 , wherein the resonating body member is a polygon.6. The apparatus of claim 1 , wherein the first electrode is capacitively coupled to the resonating body member by a first lateral capacitive dielectric gap substantially smaller than a first vertical capacitive dielectric gap claim 1 , and wherein the second electrode is capacitively coupled to the resonating body member by a second vertical capacitive dielectric gap substantially smaller than a second lateral ...

VIBRATING PIECE AND MANUFACTURING METHOD FOR THE VIBRATING PIECE, GYRO SENSOR, AND ELECTRONIC APPARATUS AND MOBILE BODY

A vibrating piece includes a driving arm at least partially formed by a piezoelectric body, the driving arm including a first surface spreading along the direction of excited vibration, a second surface on the opposite side of the first surface, a first side surface configured to connect the first surface and the second surface, and a second side surface arranged on the opposite side of the first side surface and configured to connect the first surface and the second surface. The vibrating piece includes first electrodes arranged at least on one surface side of the first surface and the second surface and second electrodes arranged on at least one surface side of the first side surface and the second side surface. The first electrodes are provided asymmetrically with respect to an equally dividing plane of the driving arm orthogonal to the direction of the excited vibration of the driving arm. 1. A vibrating piece comprising:a driving arm at least partially formed by a piezoelectric body, the driving arm including a first surface spreading along a direction of excited vibration, a second surface on an opposite side of the first surface, a first side surface configured to connect the first surface and the second surface, and a second side surface arranged on an opposite side of the first side surface and configured to connect the first surface and the second surface;first electrodes arranged at least above one surface side of the first surface and the second surface; andsecond electrodes arranged above at least one surface side of the first side surface and the second side surface, whereinthe first electrodes are provided asymmetrically with respect to an equally dividing plane of the driving arm orthogonal to the direction of the excited vibration of the driving arm.2. The vibrating piece according to claim 1 , whereinthe first electrodes are arranged above the first surface side,the second electrodes are arranged above the first side surface side and the second ...

Technique for calibrating dead reckoning positioning data

A technique for calibrating sensor data used for dead reckoning positioning comprises the steps of simultaneously recording sensor data of at least one dead reckoning positioning sensor and position data of a position sensor during travel, comparing a first travel path derived from the position data with a second travel path derived from the sensor data, and calibrating the sensor data based on the comparison.

VIBRATOR ELEMENT, METHOD OF MANUFACTURING VIBRATOR ELEMENT, ANGULAR VELOCITY SENSOR, ELECTRONIC DEVICE, AND MOVING BODY

A vibrator element including: a base portion; vibrating arms which extend from the base portion; a first drive section and a second drive section, and a first detecting section and a second detecting sensor which are respectively provided in the vibrating arms; adjusting arms which extend from the base portion in parallel to the vibrating arms; and a first adjusting section and a second adjusting section which are respectively provided on a principal surface of the adjusting arms, wherein, in the first adjusting section and the second adjusting section, a first electrode, piezoelectric layers, and adjustment electrodes are laminated on the first principal surface to be formed, and output signals of the first adjusting section and the second adjusting section are in antiphase to charges generated by the first detecting section and the second detecting section when no angular velocity is added to the vibrating arms. 1. A vibrator element comprising:a base portion;a vibrating arm which extends from the base portion;a drive section and a detecting section provided in the vibrating arm;an adjusting arm which extends from the base portion along an extension direction of the vibrating arm; andan adjusting section which is provided above a principal surface of the adjusting arm,wherein the adjusting section has a first electrode, a second electrode, and a piezoelectric layer provided between the first and second electrodes, andan output signal of the adjusting arm is in antiphase to a charge output from the adjusting section when no physical amount is added to the vibrating arm.2. The vibrator element according to claim 1 ,wherein, at a tip end portion of the detecting section on an opposite side to the base portion, a wide portion having a greater area than other parts of the detecting section is provided closer to a tip end side than the drive section.3. The vibrator element according to claim 1 ,wherein a length of the adjusting arm is shorter than a length of the ...

METHOD AND DEVICE FOR ASCERTAINING A PHYSICAL VARIABLE IN A POSITION TRANSDUCER SYSTEM

A method for ascertaining a value of a physical variable in a position transducer system includes the steps of providing a computation model, which maps a response of the position transducer system, wherein the computation model includes a model function and one or multiple parameter(s); ascertaining a value of at least one system variable at one or multiple points in time; determining the parameters of the computation model from one or multiple value(s) of the at least one system variable determined at different points in time; and determining the value of the physical variable as a function of the one or the multiple determined parameters. 1. A method for ascertaining a value of a physical variable in a position transducer system , comprising:providing a computation model, which maps a response of the position transducer system, the computation model including a model function and one or multiple parameters;ascertaining a value of at least one system variable at one or multiple points in time;determining the parameters of the computation model from one or multiple values of the at least one system variable determined at different points in time; anddetermining the value of the physical variable as a function of the one or the multiple determined parameters.2. The method according to claim 1 , wherein a position of the actuator and/or an electric trigger variable that is a trigger voltage of a position transducer drive of the position transducer system claim 1 , is/are used as the at least one system variable.3. The method according to claim 1 , wherein a temperature or a current in a position transducer drive of the position transducer system is determined as the physical variable.4. The method according to claim 1 , wherein the parameters are determined anew at regular intervals in real time.5. The method according to claim 1 , wherein the physical variable is determined with the aid of an allocation function from the determined parameters.6. The method according ...

METHODS FOR IMPROVED HEADING ESTIMATION

Methods for calibrating a body-worn magnetic sensor by spinning the magnetic sensor 360 degrees to capture magnetic data; if the spin failed to produce a circle contained in an x-y plane fit a sphere to the captured data; determining offsets based on the center of the sphere; and removing the offsets that are in the z-direction. Computing a magnetic heading reliability of a magnetic sensor by determining an orientation of the sensor at one location; transforming the orientation between two reference frames; measuring a first vector associated with the magnetic field of Earth at the location; processing the first vector to generate a virtual vector when a second location is detected; measuring a second vector associated with the magnetic field of Earth at the second location; and calculating the magnetic heading reliability at the second location based on a comparison of the virtual vector and the second vector. 1. A method for calibrating in real-time a body-worn magnetic sensor , the method comprises:capturing magnetic data from the magnetic sensor when the sensor moves along a 360 degree spun path;if the captured magnetic data fails to produce a circle contained in an x-y plane, fitting a sphere to the captured magnetic data;determining x-axis, y-axis and z-axis offsets for the captured magnetic data fit to the sphere based on a center of the sphere;removing the z-axis offsets; andusing the x-axis offsets and y-axis offsets to calibrate the magnetic sensor.2. A computing system for computing an indicator of a magnetic heading reliability of a magnetic sensor , the computing system comprising:a processor; determine an orientation of the magnetic sensor at a first location;', 'generate a filter that transforms the orientation between two reference frames;', 'measure a first vector associated with the magnetic field of Earth at the first location;', 'when a second location of the magnetic sensor is detected, process the first vector through the filter to generate a ...

MICROMACHINED PIEZOELECTRIC Z-AXIS GYROSCOPE

This disclosure provides systems, methods and apparatus, including computer programs encoded on computer storage media, for making and using gyroscopes. Such gyroscopes may include a central anchor, a sense frame disposed around the central anchor, a plurality of sense beams configured for connecting the sense frame to the central anchor and a drive frame disposed around and coupled to the sense frame. The gyroscope may include pairs of drive beams disposed on opposing sides of the sense frame. The gyroscope may include a drive frame suspension for substantially restricting a drive motion of the drive frame to that of a substantially linear displacement along the first axis. The sense frame may be substantially decoupled from drive motions of the drive frame. Such devices may be included in a mobile device, such as a mobile display device. 1. A method of fabricating a gyroscope , comprising:depositing conductive material on a substrate;forming a central anchor;forming a sense frame disposed around the central anchor;forming a plurality of sense beams, each of the sense beams including piezoelectric sense electrodes, the sense beams capable of connecting the sense frame to the central anchor;forming a drive frame disposed around and coupled to the sense frame, the drive frame including a first side and a second side;forming at least one pair of drive beams disposed on opposing sides of the sense frame, the drive beams capable of driving the first side of the drive frame in a first direction along a first axis in the plane of the drive frame, the drive beams being further capable of driving the second side of the drive frame in a second and opposing direction along the first axis;forming a drive frame suspension capable of substantially restricting a drive motion of the drive frame to that of a substantially linear displacement along the first axis, wherein forming the drive frame suspension involves forming a plurality of flexures, each flexure of the plurality of ...

HYBRID LOCATION TEST SYSTEM AND METHOD

The technology disclosed relates to testing hybrid positioning systems, including systems that rely on MEMS sensors. In particular, it relates to methods and devices for configuring and running tests of hybrid positioning systems. 1. A method of testing positioning capabilities of a portable device under test , the method including: a micro-electromechanical sensor signal emulator; and', 'a GNSS satellite constellation RF signal emulator;, 'communicating with and controlling operation of one or more test instruments, wherein the test instruments includepopulating a first panel to be displayed with an identification of the test instruments being controlled; a travel path or reference to a travel path followed by the portable device during a test, including for at least the micro-electromechanical sensor signal emulator a pedestrian model or a vehicle ride model that describes orientation and motion of the portable device as it moves along the travel path; and', 'instructions or references to instructions to be run on the test instruments as the portable device is tested along the travel path;, 'retrieving from storage a test specification file that includesdistributing the retrieved instructions or references to the instructions to the test instruments; andduring the test, populating third and fourth panels to be displayed, respectively, with reports of signals from the micro-electromechanical sensor signal emulator and the GNSS satellite constellation RF signal emulator.2. The method of claim 1 , wherein during the test claim 1 , populating a second panel to be displayed with a map representing at least a section of the travel path and showing a current location of the portable device.3. The method of claim 1 , wherein the micro-electromechanical sensor signal emulator injects sensor signals representing at least magnetometer directional orientation and inertial acceleration.4. The method of claim 1 , wherein the pedestrian model or the vehicle ride model describes ...

Method and system for compensating for soft iron magnetic disturbances in a heading reference system

A method and system for compensating for significant soft iron magnetic disturbances in a heading reference system, such as an aircraft heading reference system, such as an integrated standby unit; or a vehicle inertial system, provides a heading correction signal to the heading reference system when a detected difference in value between a gyro heading relative to magnetic north and a magnetometer reading during a defined measurement period exceeds a predetermined acceptable threshold value of change, such as one based on the expected gyro drift over that period. Upon receipt of the heading correction signal, the gyro heading is adjusted to maintain an accurate heading relative to true magnetic north. If this threshold value is not exceeded, then the magnetometer reading is used for the heading value. This method is iteratively repeated in order to continually maintain an accurate heading and may be employed for each heading measurement axis.

VIBRATORY GYROSCOPE

A sensing device comprising a micromechanical gyroscope, the gyroscope comprising an improved sensing device with a micromechanical gyroscope, where the resonance frequency of the first mechanical resonator and the resonance frequency of the second mechanical resonator are adjusted to essentially coincide. The device comprises a feed-back loop connected to the second mechanical resonator, the quality factor of the combination of the feed-back loop and the second mechanical resonator being less than 10. More accurate sensing is achieved without essentially adding complexity to the sensor device configuration. 1. A sensing device comprising a micromechanical gyroscope , the gyroscope comprising:a first mechanical resonator for drive mode vibration;a second mechanical resonator coupled to the first mechanical resonator for sense mode vibration corresponding to the angular velocity, wherein the resonance frequency of the first mechanical resonator and the resonance frequency of the second mechanical resonator are initially adjusted to essentially coincide;a damping feed-back loop connected to the second mechanical resonator, the quality factor of the combination of the feed-back loop and the second mechanical resonator being less than 10.2. A sensing device according to claim 1 , whereinthe feed-back loop comprises a transducer element and a controlling element;the transducer element comprises a first transducer and a second transducer;the first transducer is configured to output a first electrical signal that corresponds to the sense mode vibration;the control element is configured to receive from the first transducer the first electrical signal and generate a second electrical signal according to a specific response function, the response function defining correspondence between values of the first electrical signal and the second electrical signal;the control element is configured to feed the second electrical signal to the second transducer;the second transducer is ...

DOWNHOLE INSTRUMENT CALIBRATION DURING FORMATION SURVEY

A downhole sensor calibration apparatus includes a rotational or gimbaling mechanism for guiding a sensing axis of an orientation responsive sensor through a three-dimensional orbit about three orthogonal axes. A method includes using measurements taken over the three-dimensional orbit to calibrate the sensor and determine other characteristics of the sensor or tool. 1. A downhole sensor calibration apparatus comprising:a body having an axis; anda rotational mechanism supported by the body, the mechanism including at least one sensor;wherein the rotational mechanism is operable to rotate the sensor relative to three orthogonal axes.2. The apparatus of wherein the rotational mechanism is operable to rotate the sensor in three orthogonal planes.3. The apparatus of wherein the rotational mechanism includes an outer cage rotatable about the body axis claim 1 , and a sensor chassis supported in the outer cage and rotatable about an axis orthogonal to the body axis.4. The apparatus of wherein the rotational mechanism comprises a gimbaling mechanism.5. The apparatus of wherein the at least one sensor comprises an orientation responsive sensor wherein a sensing axis of the sensor is sensitive to the orientation of the sensor.6. The apparatus of wherein the at least one sensor comprises an accelerometer claim 5 , a magnetometer claim 5 , an inclinometer claim 5 , a gyroscope claim 5 , or a combination thereof.7. The apparatus of wherein the rotational mechanism contains a second sensor.8. The apparatus of wherein a second sensor is mounted outside of the rotational mechanism.9. The apparatus of wherein the sensor chassis comprises:rotational support members to rotate a sensing axis of the sensor about the orthogonal axis; anda gear;wherein the gear is rotatably coupled to a second gear;wherein the gears comprise interlocking, beveled gears; andwherein the second gear is coupled to a rotatable shaft.10. The apparatus of wherein the rotational mechanism is operable to move a ...

POSTURE CALIBRATION FOR ACTIVITY MONITORING

A method and system for activity monitoring of a user are disclosed. In a first aspect, the method comprises calibrating posture by the user to determine a calibration vector. The method includes validating the calibration vector by comparing an anteroposterior axis to a threshold, wherein activity of the user is monitored using the validated calibration vector. In a second aspect, a wireless sensor device comprises a processor and a memory device coupled to the processor, wherein the memory device includes an application that, when executed by the processor, causes the processor to receive a posture calibration request from the user and to determine a calibration vector based on the received request. The application, when executed by the processor, further causes the processor to validate the calibration vector by comparing an anteroposterior axis to a threshold, wherein activity of the user is monitored using the validated calibration vector. 1. A method for activity monitoring of a user , the method comprising:calibrating posture by the user to determine a calibration vector;validating the calibration vector by comparing an anteroposterior axis to a threshold, wherein activity of the user is monitored using the validated calibration vector.2. The method of claim 1 , further comprising:in response to a validation failure, monitoring the activity of the user independent of the calibration vector and reporting an unknown posture for the user; andcalibrating the posture implicitly when the user is walking.3. The method of claim 2 , further comprising:in response to the validation failure, determining whether to recalibrate the posture explicitly.4. The method of claim 1 , wherein the validating further comprises:ensuring a magnitude of acceleration along the anteroposterior axis is less than the threshold.5. The method of claim 2 , wherein the validation failure occurs when a magnitude of acceleration along the anteroposterior axis is greater than or equal to the ...

CONTROL MOMENT GYROSCOPES INCLUDING TORSIONALLY-STIFF SPOKED ROTORS AND METHODS FOR THE MANUFACTURE THEREOF

Embodiments of control moment gyroscopes (CMGs) are provided, as are embodiments of a method for fabricating CMGs. In one embodiment, a CMG includes a stator housing, an inner gimbal assembly (IGA), and a torque motor coupled to the stator housing and configured to rotate the IGA housing about a gimbal axis to selectively generate a desired output torque during operation of the CMG. The IGA includes, in turn, an IGA support structure housing rotatably coupled to the stator housing, a monolithic CMG rotor rotatably mounted to the IGA support structure housing, and a spin motor coupled to the IGA support structure housing and configured to rotate the monolithic CMG rotor about a spin axis. 1. A control moment gyroscope (CMG) , comprising:a stator housing; an IGA support structure rotatably coupled to the stator housing;', 'a monolithic CMG rotor rotatably mounted to the IGA support structure; and', 'a spin motor coupled to the IGA support structure and configured to rotate the monolithic CMG rotor about a spin axis; and, 'an inner gimbal assembly (IGA), comprisinga torque motor coupled to the stator housing and configured to rotate the IGA support structure housing about a gimbal axis to selectively generate a desired output torque during operation of the CMG.2. A CMG according to wherein the monolithic CMG rotor comprises:a rotor shaft;a rotor rim; anda plurality of torsionally-stiff radial spokes circumferentially spaced about the spin axis, each of the plurality of torsionally-stiff radial spokes having an inner spoke end integrally joined to the rotor shaft and having an outer spoke end integrally joined to the rotor rim.3. A CMG according to wherein the average axial height of each of the plurality of torsionally-stiff radial spokes is at least twice a chordal thickness thereof4. A CMG according to wherein an axial height of the inner spoke end is closer in magnitude to the length of the rotor shaft than to an axial height of the outer spoke end.5. A CMG ...

MICROMACHINED PIEZOELECTRIC X-AXIS GYROSCOPE

This disclosure provides systems, methods and apparatus, including computer programs encoded on computer storage media, for making and using gyroscopes. Some gyroscopes include a drive frame, a central anchor and a plurality of drive beams disposed on opposing sides of the central anchor. The drive beams may connect the drive frame to the central anchor. The drive beams may include a piezoelectric layer and may be configured to cause the drive frame to oscillate torsionally in a plane of the drive beams. The gyroscope may also include a proof mass and a plurality of piezoelectric sense beams. At least some components may be formed from plated metal. The drive frame may be disposed within the proof mass. The drive beams may constrain the drive frame to rotate substantially in the plane of the drive beams. Such devices may be included in a mobile device, such as a mobile display device. 1. A method of fabricating a gyroscope , the method comprising:depositing conductive material on a substrate;forming an anchor on the substrate;forming a drive frame on the anchor;forming pairs of drive beams on opposing sides of the anchor, the drive beams connecting the drive frame to the anchor, the drive beams being configured to constrain the drive frame to rotate substantially in the plane of the drive beams;forming a proof mass around the drive frame; andforming a plurality of sense beams that connect the drive frame to the proof mass, the sense beams being tapered sense beams having a width that decreases with increasing distance from the anchor, the sense beams being configured to allow sense motions of the proof mass in a sense plane substantially perpendicular to the plane of the drive beams in response to an applied angular rotation.2. The method of claim 1 , wherein forming the drive beams includes the following:depositing a first metal layer that is in contact with the conductive material;depositing a piezoelectric layer on the first metal layer;depositing a second metal ...

HEMITOROIDAL RESONATOR GYROSCOPE

A method for fabricating a vibratory structure gyroscope is provided herein. An annular cavity is formed in a first surface of a substrate, the annular cavity defining an anchor post located in a central portion of the annular cavity. A bubble layer is formed over the first surface of the substrate and over the annular cavity. The substrate and the bubble layer are heated to form a hemitoroidal bubble in the bubble layer over the annular cavity. A sacrificial layer is deposited over the hemitoroidal bubble of the bubble layer and an aperture is formed in the sacrificial layer, the aperture disposed over the anchor post in the annular cavity. A resonator layer is deposited over the sacrificial layer and the sacrificial layer between the bubble layer and the resonator layer is removed. 1. A method of fabricating a vibratory structure gyroscope , the method comprising:forming an annular cavity in a first surface of a substrate, the annular cavity defining an anchor post located in a central portion of the annular cavity;forming a bubble layer over the first surface of the substrate and over the annular cavity;heating the substrate and the bubble layer to form a hemitoroidal bubble in the bubble layer over the annular cavity;depositing a sacrificial layer over the hemitoroidal bubble of the bubble layer;forming an aperture in the sacrificial layer, the aperture disposed over the anchor post in the annular cavity;depositing a resonator layer over the sacrificial layer; andremoving the sacrificial layer between the bubble layer and the resonator layer.2. The method of claim 1 , further comprising:depositing a first conductive layer over the hemitoroidal bubble in the bubble layer before depositing the sacrificial layer;etching the first conductive layer to form a plurality of electrodes;depositing a second conductive layer over the sacrificial layer; andetching the second conductive layer to form an electrode layer.3. The method of claim 2 , further comprising:depositing ...

IMAGING RANGE FINDER FABRICATION

Fabrication of an imaging range finder is disclosed. The range finder can be formed of an imaging lens and an array of emitters and photodetectors in optical communication with the lens. The emitters in the array can be formed to emit light that is directed by the lens toward a target object. The photodetectors in the array can be formed to detect light received from the object through the lens and onto the photodetectors. The lens, the array, or both can be movable to adjust the light emitted by the range finder. The range finder can be formed to find the object's range based on characteristics of the emitted light and/or the detected light. 1. An imaging range finder comprising:an array formed of a set of emitters capable of emitting light and a set of photodetectors capable of detecting light;an imaging lens formed proximate to and in optical communication with the array and capable of collimating the emitted light from the emitters and focusing light received from an object onto the photodetectors; anda driver circuit formed proximate to the array and capable of driving the array.2. The range finder of claim 1 , further comprising:a device coupled to at least one of the array or the lens to move the array or the lens,wherein the driver circuit is coupled to the device to drive the device.3. The range finder of claim 1 , further comprising:a movable prism formed between the lens and the array,wherein the driver circuit is coupled to the prism to cause the prism to move.4. The range finder of claim 1 , further comprising:a second imaging lens formed in alignment with the imaging lens; anda device coupled to the imaging lens and the second imaging lens to move the lenses,wherein the driver circuit is coupled to the device to drive the device.5. The range finder of claim 1 , further comprising:a second imaging lens formed adjacent to the imaging lens to receive scattered light from the object and focus the scattered light onto the photodetectors.6. The range finder ...

Using magnetometer data to calculate angular rate measurement bias

Implementations are disclosed for using magnetometer measurements to estimate bias for angular rate measurements provided by an angular rate sensor (e.g., a gyro sensor). In some implementations, a bias estimator running on a device is configured to determine if the device is rotating based on the magnetometer measurements. If the device is not rotating, a dynamic bias is calculated and added to a temperature compensated static bias to provide a total angular rate measurement bias. The total angular rate measurement bias can be provided to an attitude estimation system where it is used to update an attitude (orientation) of the device. In some implementations, the angular rate measurements are used to determine if the device is oscillating according to a threshold value. If the device is not rotating and the device is oscillating according to a threshold value, the static bias is updated in a calibration table.

POSITIONING METHOD AND ELECTRONIC DEVICE UTILIZING THE SAME

A positioning method and an electronic device utilizing the same are disclosed. The positioning method, adopted by an electronic device for positioning a mobile device, includes: determining a preliminary plane location of the mobile device; obtaining a tilt angle of the mobile device; and correcting an error in the preliminary plane location based on the tilt angle, to obtain the correct plane location of the mobile device. 1. A positioning method , adopted by an electronic device for positioning a mobile device , comprising:determining a preliminary plane location of the mobile device;obtaining a tilt angle of the mobile device;correcting an error in the preliminary plane location based on the tilt angle, to obtain a correct plane location of the mobile device;obtaining a first distance between the mobile device and a first reference device, and a first spatial location of the first reference device;obtaining a second distance between the mobile device and a second reference device, and a second spatial location of the second reference device;determining two possible vertical locations for the mobile device according to the correct plane location, the first distance, and the first spatial location; anddetermining one of the two possible vertical locations as a correct vertical location for the mobile device according to the correct plane location, the second distance, and the second spatial location;wherein the first reference device and second reference device have different vertical locations.2. The positioning method of claim 1 , wherein the step of correcting the preliminary plane location comprises looking up the tilt angle in a lookup table to obtain the error in the preliminary plane location.3. The positioning method of claim 1 , wherein the step of obtaining the tilt angle comprises:obtaining, by an image sensor on the electronic device, an image of the mobile device; anddetermining the tilt angle of the mobile device by processing the image of the mobile ...

Liquid Capacitive Micro Inclinometer

The present invention relates to a liquid capacitive micro inclinometer, comprising a pair of differential electrodes and a common electrode, all formed in the same plane in a sealed chamber. Immersing liquid is filled in the sealed chamber. The shape of the differential electrodes forms a sector of a circular plane. The inclinometer may further integrate a reading circuit. The present invention also discloses preparation method for the invented inclinometer. 1. A liquid capacitive micro inclinometer , comprising a pair of differential electrodes and a common electrode , all positioned in substantially a same plane in a sealed chamber , and immersing liquid filled in the sealed chamber , wherein each differential electrode has the shape of a part of a circular plane.2. The liquid capacitive micro inclinometer according to claim 1 , wherein the differential electrodes respectively have a semicircular shape.3. The liquid capacitive micro inclinometer according to claim 1 , wherein shape of the differential electrodes forms sector of a semicircular claim 1 , wherein the inclinometer further comprises one or more pair of differential electrodes formed in the same plane claim 1 , and wherein all differential electrodes have substantially a same shape.4. The liquid capacitive micro inclinometer according to claim 1 , further comprising a reading circuit to generate reading values of capacitance represented by each of the differential electrodes.5. The liquid capacitive micro inclinometer according to claim 2 , further comprising a reading circuit to generate reading values of capacitance represented by each of the differential electrodes.6. The liquid capacitive micro inclinometer according to claim 3 , further comprising a reading circuit to generate reading values of capacitance represented by each of the differential electrodes.7. The liquid capacitive micro inclinometer according to claim 1 , further comprising a lubrication layer provided in at least a partial ...

METHODS FOR MONITORING THE OUTPUT PERFORMANCE OF STATE ESTIMATORS IN NAVIGATION SYSTEMS

A system and methods for monitoring the integrity of navigation measurement information are disclosed. One method includes receiving a plurality of navigation measurement values, computing a first set and second set of estimates of the navigation measurement values, comparing the first set to the second set, and if the second set is statistically consistent with the first set, computing a plurality of sub-sets of the second set of estimates, computing a sub-solution for each sub-set of the second set of estimates, and computing an integrity value for each sub-solution. 1. A method for monitoring the integrity of navigation measurement information , comprising:receiving a plurality of navigation measurement values;computing a first set of estimates of the plurality of navigation measurement values utilizing a global filter or a local filter having an order O and a system model;computing a second set of estimates of the plurality of navigation measurement values utilizing a local filter having an order lower than O and the system model;comparing the first set of estimates to the second set of estimates;determining if the second set of estimates is statistically consistent with the first set of estimates; andif the second set of estimates is statistically consistent with the first set of estimates, computing a plurality of sub-sets of the second set of estimates of the plurality of navigation measurement values, computing a sub-solution for each sub-set of the second set of estimates of the plurality of navigation measurement values, and computing an integrity value for each sub-solution.2. The method of claim 1 , wherein the computing the first set of estimates comprises computing the first set of estimates utilizing an extended Kalman filter (EKF).3. The method of claim 1 , wherein the computing the first set of estimates comprises computing the first set of estimates utilizing a global or high-order filter (G/HF).4. The method of claim 1 , wherein the computing the ...

Calibration Fixture For Range Finding Sensors On A Vehicle

An apparatus and method for aligning, calibrating, or inspecting an onboard vehicle sensor having an external field of view by providing a calibration component on a support structure for positioning at a short calibration distance of said sensor. The calibration component is configured to appear to the sensor as if it was positioned at a predetermined linear calibration distance from the vehicle which is greater than the actual short calibration distance. 1. A calibration fixture for use in the alignment , calibration , or inspection of a sensor onboard a vehicle having an external field of view , comprising:a support structure for positioning at a short calibration distance from said vehicle within the field of view of said sensor; andat least one calibration component disposed on said support structure, said calibration component visible to said sensor onboard said vehicle and configured to appear to said sensor as if said at least one calibration component was positioned at a predetermined linear calibration distance from said vehicle which is greater than said short calibration distance.2. The calibration fixture of wherein said sensor onboard said vehicle is a signal-emitting range-finding sensor; andwherein said at least one calibration component includes at least one reflector establishing a non-linear signal pathway carried by said support structure, said non-linear signal pathway having a signal travel distance measured from a signal entry point to a signal exit point, said signal travel distance related to said predetermined linear calibration distance associated with said signal-emitting range-finding sensor.3. The calibration fixture of wherein said at least one calibration component establishing said non-linear signal pathway further includes a signal retro-reflector in spaced apart alignment with said entry point claim 2 , such that said signal entry point and said signal exit point are at the same location.4. The calibration fixture of wherein said ...

METHOD FOR PERFORMING FUNCTION USING SENSOR DATA AND ELECTRONIC DEVICE FOR PROVIDING SAME

An electronic device and method utilizes an external sensor group to facilitate miniaturization the device and repair/replacement of external sensors. An interface connected to an external sensor package including at least one sensor. A processor that when the external sensor package is connected through the interface, determines from which group the external sensor package is included in among pre-configured groups and controls the performance of a function corresponding to the determined group. 1. An electronic device comprising:an interface that is communicatively coupled to an accessory including an external sensor package including at least one sensor; and identify whether the accessory including the external sensor package is communicatively coupled to the electronic device through the interface,', 'determine, if the accessory including the external sensor package is coupled to the electronic device, a type of the sensor included in the external sensor package,', 'determine, based on the determined the type of the sensor, and', 'control a performance of a function corresponding to the determined the type of the sensor., 'a processor configured to2. The electronic device of claim 1 , wherein the processor sequentially determines respective sensor types when multiple sensors are included in the recognized external sensor package.3. The electronic device of claim 2 , wherein claim 2 , when the processor sequentially determines the respective sensor types on the basis of at least one information value among a voltage information value sensed by the processor corresponding to the respective sensors and identification information values corresponding to the respective sensors.4. The electronic device of claim 1 , wherein the processor is configured to deactivate a function corresponding to the type of the sensor that includes the external sensor package on a basis of status information regarding the electronic device.5. The electronic device of claim 4 , wherein the ...

INTEGRATED SENSOR AND HOMOLOGOUS CALIBRATION STRUCTURE FOR RESONANT DEVICES

An apparatus is provided which comprises: a substrate; a sensor including a sensing element, wherein the sensor is integrated within the substrate; and a calibration structure integrated within the substrate, wherein the calibration structure is to exhibit one or more physical or chemical properties same as the sensor but without the sensing element. 1. An apparatus comprising:i. a substrate;ii. a sensor including a sensing element, wherein the sensor is integrated within the substrate; andiii. a calibration structure integrated within the substrate, wherein the calibration structure is to exhibit one or more properties same as the sensor but without the sensing element.2. The apparatus of claim 1 , wherein the sensor is to exhibit a first indication corresponding to a state of a first stimulus to which the apparatus is subjected.3. The apparatus of claim 2 , wherein the first indication is modulated by changes corresponding to a state of a second stimulus to which the apparatus is subjected.4. The apparatus of claim 3 , wherein the calibration structure is to exhibit a second indication corresponding to the state of the second stimulus to which the apparatus is subjected.5. The apparatus of comprises circuitry to receive:a. a first signal from the sensor, andb. a second signal from the calibration structure.6. The apparatus of claim 5 , wherein the circuitry is to compare the first signal from the sensor to the second signal from the calibration structure and to calibrate the first signal based on the second signal.7. The apparatus of claim 6 , wherein the circuitry is to be operable to cancel out the modulation by the at least one secondary stimulus of the first input signal claim 6 , and wherein the electronic circuit is to exhibit an output signal that corresponds to a demodulated first input signal from the sensor structure.8. The apparatus of claim 1 , further comprising at least one cavity formed within said substrate.9. The apparatus of claim 8 , wherein the ...

INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND PROGRAM

A temperature characteristic of an inertial sensor is simply acquired. An information processing apparatus includes: an inertia measuring unit (, IMU); an information processing unit () that performs arithmetic processing that is accompanied by a change in temperature according to a load during operation; a temperature detection unit () that detects temperature; a temperature control unit () that controls the temperature detected by the temperature detection unit by applying the load to the information processing unit to cause the information processing unit to operate; and a data acquisition unit () that acquires temperature characteristic data indicating a relationship between a correction value and the temperature, the correction value being used to correct a measurement value of the inertia measuring unit. 1. An information processing apparatus comprising:an inertia measuring unit;an information processing unit that performs arithmetic processing that is accompanied by a change in temperature according to a load during operation;a temperature detection unit that detects temperature;a temperature control unit that controls the temperature detected by the temperature detection unit by applying the load to the information processing unit to cause the information processing unit to operate; anda data acquisition unit that acquires temperature characteristic data indicating a relationship between a correction value and the temperature, the correction value being used to correct a measurement value of the inertia measuring unit.2. The information processing apparatus according to claim 1 , further comprising a correction processing unit that corrects the measurement value measured by the inertia measuring unit claim 1 , on a basis of the correction value obtained from the temperature detected by the temperature detection unit and the temperature characteristic data.3. The information processing apparatus according to claim 1 , further comprising a state determination ...

Detecting Mount Angle of Mobile Device in Vehicle Using Motion Sensors

Motion sensors of a mobile device mounted to a vehicle are used to detect a mount angle of the mobile device. The motion sensors are used to determine whether the vehicle is accelerating or de-accelerating, whether the vehicle is turning and whether the mount angle of the mobile device is rotating. The mount angle of the mobile device is obtained from data output from the motion sensors and can be used to correct a compass heading. Data from the motion sensors that are obtained while the vehicle is turning or the mobile device is rotating are not used to obtain the mount angle. 1. A method comprising:obtaining motion data from a motion sensor of a mobile device mounted to a vehicle, where the motion data is obtained while the vehicle is moving;obtaining a subset of the motion data obtained while the vehicle was not turning and the mobile device was not rotating;obtaining a motion vector from the subset of motion data; andobtaining a mounting angle from the motion vector, where the method is performed by one or more hardware processors.2. The method of claim 1 , further comprising:determining from the motion data that the mobile device is mounted in the vehicle.3. The method of claim 2 , where determining that a mobile device is mounted in a vehicle claim 2 , comprises:determining that the mobile device is in a mounted state.4. The method of claim 1 , where obtaining a subset of motion data comprises:obtaining peak acceleration data obtained from a first motion sensor of the mobile device;comparing the peak acceleration data with angular rate data obtained from a second motion sensor; andobtaining the subset of motion data according to results of the comparing.5. The method of claim 1 , where obtaining a motion vector from the subset of motion data further comprises:obtaining the motion vector from a locus of acceleration data points obtained over a period of time while the vehicle was moving.6. The method of claim 4 , where the motion vector is obtained from the ...

FAULT DETECTION, CONTAINMENT, ISOLATION, AND RESPONSE ARCHITECTURE FOR A POSITION, NAVIGATION, AND TIMING (PNT) SYSTEM

A PNT system for a user includes a plurality of sensors configured to collect measurements, where the sensors are grouped into a plurality of subsets of sensors. The PNT system individually compares a measured value collected by each of the plurality of sensors with a corresponding threshold value. The PNT system determines a potential fault condition for a particular sensor exists when the measured value exceeds the corresponding threshold value. In response to detecting the potential fault condition, the PNT system contains the potential fault condition by determining a replacement value. In response to determining a number of times that the potential fault condition is detected exceeds a predetermined value, the PNT system determines a confirmed fault condition with the particular sensor and re-groups the plurality of subsets of sensors. The PNT system proceeds to a second level of fault detection for determining a plurality of individual navigation solutions. 1. A position , navigation , and timing (PNT) system for a user , comprising:a plurality of sensors configured to collect measurements related to the user, wherein the plurality of sensors are grouped into a plurality of subsets of sensors;one or more processors in electronic communication with the plurality of sensors; and individually compare a measured value collected by each of the plurality of sensors with a corresponding threshold value, wherein the measured values are compared individually at a first level of fault detection;', 'determine a potential fault condition for a particular sensor exists when the measured value exceeds the corresponding threshold value;', 'in response to detecting the potential fault condition, containing the potential fault condition by determining a replacement value;', 'count a number of times that the potential fault condition is detected;', 'compare the number of times that the potential fault condition is detected with a predetermined value;', 'in response to ...

INERTIAL MEASUREMENT UNIT FOR ELECTRONIC DEVICES

In one example an inertial measurement unit comprises an autocalibration module to compute a covariance matrix from data received from a plurality of sensors, an adaptive weight control module to determine state-based feedback parameters for the gyroscope sensor, accelerometer sensor, and magnetometer sensor, and a sensor characteristic adjustment module to determine a modified covariance matrix based on an input from the adaptive weight control module. Other examples may be described. 1. An inertial measurement unit , comprising:an autocalibration module to compute a covariance matrix from data received from a plurality of sensors;an adaptive weight control module to determine state-based feedback parameters for the gyroscope sensor, accelerometer sensor, and magnetometer sensor; anda sensor characteristic adjustment module to determine a modified covariance matrix based on an input from the adaptive weight control module.2. The inertial measurement unit of claim 1 , wherein the plurality of sensors comrprises at least one of a gyroscope sensor claim 1 , an accelerometer sensor claim 1 , and a magnetometer sensor.3. The inertial measurement unit of claim 1 , further comprising:a prediction module; anda correction module.4. The inertial measurement unit of claim 3 , wherein the modified covariance matrix is input to the correction module.5. The inertial measurement unit of claim 2 , wherein the autocalibration module comprises logic claim 2 , at least partially including hardware logic claim 2 , configured to:monitor an output of the accelerometer sensor; andin response to a determination that the inertial measurement unit remained still for a predetermined period of time, to compute the covariance matrix.6. The inertial measurement unit of claim 2 , wherein the autocalibration module comprises logic claim 2 , at least partially including hardware logic claim 2 , configured to:determine a state based on an input from the accelerometer sensor and the magnetometer ...

Decomposition of Error Components Between Angular, Forward, and Sideways Errors in Estimated Positions of a Computing Device

Examples include systems and methods for decomposition of error components between angular, forward, and sideways errors in estimated positions of a computing device. One method includes determining an estimation of a current position of the computing device based on a previous position of the computing device, an estimated speed over an elapsed time, and a direction of travel of the computing device, determining a forward, sideways, and orientation change error component of the estimation of the current position of the computing device, determining a weight to apply to the forward, sideways, and orientation change error components based on average observed movement of the computing device, and using the weighted forward, sideways, and orientation change error components as constraints for determination of an updated estimation of the current position of the computing device. 1. A method performed by one or more processors executing instructions stored in memory , comprising:determining an estimation of a current position of a computing device;determining a forward error component of the estimation of the current position of the computing device, wherein the forward error component is indicative of error in the estimation of the current position along a forward direction of travel of the computing device;determining a sideways error component of the estimation of the current position of the computing device, wherein the sideways error component is indicative of error in the estimation of the current position along a sideways direction that is substantially perpendicular to the direction of travel of the computing device;determining a weight to apply to the forward error component and determining a weight to apply to the sideways error component, in each case based on average observed movement of the computing device; andusing the weighted forward error component and the weighted sideways error component as constraints for determination of an updated estimation of ...

PORTABLE TERMINAL DEVICE, RECORDING MEDIUM, AND CORRECTION METHOD

A portable terminal device carried by a user is provided with: a gyro sensor measuring an angular velocity to acquire angular velocity information; an acceleration sensor measuring an acceleration to acquire acceleration information; a camera capturing an image of a subject in surroundings to acquire image information; a vector calculation unit calculating a motion vector of the subject based on the image information; a correlation decision unit deciding a relative relation between a traveling direction by a walking motion of the user and an image-capturing direction of the camera in accordance with the angular velocity information and the acceleration information; a rectilinear walking decision unit deciding whether the user is in a rectilinear state in accordance with the calculated motion vector of the subject and correlation decision information; and a correction unit correcting the angular velocity information acquired by the gyro sensor in response to decision that the user is in the rectilinear state. 1. A portable terminal device carried by a user comprising:a gyro sensor configured to measure an angular velocity in movement of the portable terminal device to acquire angular velocity information;an acceleration sensor configured to measure an acceleration in the movement of the portable terminal device to acquire acceleration information;a camera configured to capture an image of a subject in surroundings during a time period in which the portable terminal device is moving, to acquire image information;a vector calculation element configured to calculate a motion vector of the subject based on the image information;a correlation decision element configured to decide a relative relation between a traveling direction by a walking motion of the user and an image-capturing direction of the camera in accordance with the angular velocity information acquired by the gyro sensor and the acceleration information acquired by the acceleration sensor;a rectilinear ...

Precision calibration method of attitude measuring system

A precision calibration method of attitude measuring systems is provided. The precision calibration method of attitude measuring systems includes the following steps: calibrating a zero-deviation, a scale coefficient, and a non-orthogonal angle between axes of an accelerometer to the attitude measuring system via an ellipsoid fitting model (S 1 ); compensating original data of the accelerometer using a calculated ellipsoid parameter (S 2 ); calibrating an electronic compass via the ellipsoid fitting model according to compensated accelerometer data (S 3 ); compensating original electronic compass data by the calculated ellipsoid parameter (S 4 ); calculating an attitude according to the compensated data of the accelerometer and compensated data of the electronic compass (S 5 ). The above steps of the method have a reliable calibration result and a high precision with a less time consumption of calibration.

Gnss and optical guidance and machine control

A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. Relative orientations and attitudes between motive and working components can be determined using optical sensors and cameras. The system can also be used to guide multiple vehicles in relation to each other.

NAVIGATION DEVICE WITH TURNTABLE FOR INDEX MEASURING AND METHOD FOR OPERATING THE NAVIGATION DEVICE

The invention relates to a navigation device comprising a turntable which can be rotated about an axis in at least two different rotary positions, in accordance with a rotary control signal. An inertial measuring unit is arranged on the rotary table which can be rotated with the rotary table. The quality of the measurement data can be determined by the initial measuring unit with the help of an evaluation device. When the determined quality does not reach a predetermined minimum quality, the rotary table rotates in the respective other rotary position. 1. A navigation device comprisinga turntable that can be rotated depending on a rotary control signal around an axis into at least two different rotary positions;an inertial measuring unit that is arranged on the turntable and can be rotated together with the turntable; andan evaluation unit for evaluating of measurement data of the inertial measuring unit; whereinby the evaluation unit the quality of the measurement data can be detected; and whereinby the evaluation unit a rotary control signal can be generated, if the determined quality does not reach a predetermined minimum quality, such that then the turntable is rotated to the respective other rotary position.2. The navigation device according to claim 1 , wherein the evaluation unit comprises a Kalman filter.3. The navigation device according to claim 1 , wherein the rotary positions are offset with respect to each other by an arbitrary angle claim 1 , in particular by 180 degree.4. The navigation device according to claim 1 , wherein the quality of the measurement data can be determined based on the variance of the measurement data.5. The navigation device according to claim 1 , wherein the minimum qualityis a predefined, fixed threshold; oris a dynamic threshold that can be changed by the evaluation unit depending on further conditions.6. The navigation device according to claim 1 , wherein the inertial measuring unit is configured to determining a heading.7. ...

METHOD FOR DECOUPLING ANGULAR VELOCITY IN TRANSFER ALIGNMENT PROCESS UNDER DYNAMIC DEFORMATION

A method for decoupling an angular velocity in a transfer alignment process under a dynamic deformation includes: (1) generating, by a trajectory generator, information about an attitude, a velocity, and a position of a main inertial navigation system and an output of an inertial device, and simulating a bending deformation angle {right arrow over (θ)} between the main inertial navigation system and a slave inertial navigation system and a bending deformation angular velocity {right arrow over (ω)} by using second-order Markov; (2) decomposing the dynamic deformation into a vibration deformation and a bending deformation, and establishing an angular velocity model under the dynamic deformation of a wing; (3) deducing an error angle Δ{right arrow over (ϕ)} between the main inertial navigation system and the slave inertial navigation system; and (4) deducing an expression Δ{right arrow over (ω)} of a coupling error angular velocity, and applying that to an angular velocity matching process of transfer alignment to improve the precision of the transfer alignment. 1. A method for decoupling an angular velocity in a transfer alignment process under a dynamic deformation , comprising:{'sub': 'θ', 'step (1): generating, by a trajectory generator, information about an attitude, a velocity, and a position of a main inertial navigation system and an output of an inertial device, and simulating a bending deformation angle {right arrow over (θ)} between the main inertial navigation system and a slave inertial navigation system and a bending deformation angular velocity {right arrow over (ω)} by using second-order Markov;'}step (2): decomposing the dynamic deformation into a vibration deformation with a high frequency and a low amplitude, and a bending deformation with a low frequency and a high amplitude, and establishing an angular velocity model under the dynamic deformation of a wing;step (3): considering the vibration deformation with the high frequency and the low ...

Motion Sensor with Drift Correction

Systems and/or devices for implementing a tracking device for tracking a position/location and orientation of an object are provided herein. The device comprises one or more sides that define a predetermined shape, and a plurality of inertial measurement units (IMU) mounted to the one or more sides of the predetermined shape. Each IMU is configured to detect movement of the object and generate inertial output data representing a position and/or orientation of the object. Each IMU includes a first sub-sensor and a second sub-sensor. Each IMU is positioned at a predetermined distance and orientation relative to a center point of the tracking device. The device also comprises a controller communicatively coupled to the plurality of IMUs, the controller configured to receive output data from each of the plurality of IMUs, and determine position/location and orientation of the object based on the received output data from the plurality of IMUs and known data points for the predetermined shape to eliminate drift from sensor data. 1. A tracking device for tracking a location and orientation of an object , the tracking device comprising:one or more sides that define a predetermined shape;a plurality of inertial measurement units (IMU) mounted to the one or more sides of the predetermined shape, wherein each IMU is configured to detect movement of the object and generate inertial output data representing the location and/or orientation of the object, wherein each IMU includes a first sub-sensor and a second sub-sensor, wherein each IMU is positioned at a predetermined distance and orientation relative to a center of mass of the tracking device; receiving first sub-sensor inertial output data and second sub-sensor inertial output data from each of the plurality of IMUs at a high sampling rate;', generating calibrated inertial output data based on the first sub-sensor inertial output data and the second sub-sensor inertial output data;', 'cross-correlating the first sub-sensor ...

SYSTEMS AND METHODS FOR MATERIALS HANDLING VEHICLE ODOMETRY CALIBRATION

Systems and methods for calibrating odometry of a materials handling vehicle. One embodiment of a method includes determining a current location of the materials handling vehicle, determining an odometry distance from the current location to a destination based on a calculation of a determined number of rotations of a wheel and a circumference of the wheel, and determining a positioning system distance from the current location to the destination. Some embodiments include comparing the odometry distance with data from the positioning system distance to calculate a scaling factor, applying the scaling factor to a fast alpha filter to achieve a fast filter result, and applying the scaling factor to a slow alpha filter to achieve a slow filter result. Similarly, some embodiments include applying the fast alpha filter to the scaling factor to smooth noise, calculating an updated odometry distance utilizing the scaling factor, and utilizing the updated odometry distance. 1. A materials handling vehicle comprising materials handling hardware , a wheel , an odometer , a positioning system , and a vehicle computing device , wherein the vehicle computing device stores logic that when executed by a processor , causes the materials handling vehicle to perform at least the following:determine a current location of the materials handling vehicle;determine, via the odometer, an odometry distance from the current location to a destination;determine, via the positioning system, a positioning system distance from the current location of the materials handling vehicle to the destination;compare the odometry distance with the positioning system distance to determine a difference and to calculate a scaling factor based on the odometry distance and the positioning system distance;utilize an exponential moving average filter to adjust the scaling factor when the difference exceeds a threshold;calculate an updated odometry distance utilizing the adjusted scaling factor; andutilize the ...

METHODS AND SYSTEMS FOR SELF-TESTING MEMS INERTIAL SENSORS

Techniques for self-testing of microelectromechanical systems (MEMS) inertial sensors are described. Some techniques involve testing inertial sensor characteristics such as an accelerometer's sensitivity to acceleration and a gyroscope's sensitivity to angular motion. The tests may be performed by providing a test signal, which simulates a stimulus such as an acceleration or angular rate, to a MEMS inertial sensor and examining the sensor's output. The efficacy of such self-tests may be impaired by spurious signals, which may be present in the sensor's environment and may influence the sensor's output. Accordingly, the self-testing techniques described herein involve detecting the presence of any such spurious signals and discarding self-test results when their presence is detected. In some embodiments, the presence of spurious signals may be detected using a signal obtained by mixing the response of the MEMS inertial sensor with a reference signal substantially in quadrature with the test signal. 1. A system for testing a microelectromechanical system (MEMS) inertial sensor , the system comprising: receive a response signal representing a response of the MEMS inertial sensor to a test signal generated by a signal generator;', 'generate an in-phase response signal by mixing an in-phase reference signal with the response signal;', 'generate a quadrature response signal by mixing the response signal with a quadrature reference signal;', 'determine, based on the quadrature response signal, whether the in-phase response signal is to be used for assessing a characteristic of the MEMS inertial sensor; and', 'when it is determined that the in-phase response signal is to be used for assessing the characteristic of the MEMS inertial sensor, assess the characteristic of the MEMS inertial sensor using the in-phase response signal., 'test circuitry configured to2. The system of claim 1 , wherein the in-phase reference signal and the test signal are substantially in-phase ...

System for Calibration and Inspection of Range Finding Sensors On A Vehicle

An apparatus and method for aligning, calibrating, or inspecting an onboard vehicle sensor having an external field of view by providing a calibration component on a support structure for positioning at a short calibration distance from the vehicle and which is within the field of view of said sensor. The calibration component is configured to appear to the sensor as if it was positioned at a predetermined linear calibration distance from the vehicle which is greater than the actual short calibration distance. 1. A multi-function calibration fixture for use in the alignment , calibration , or inspection of a plurality of vehicle onboard sensors having external fields of view , including at least one optical sensor unit and at least one radar sensor unit , comprising:a support structure for positioning at a first calibration distance from said vehicle within the fields of view of said vehicle onboard sensors;a plurality of calibration components disposed on said support structure, said plurality of calibration components each visible to at least one of said plurality of vehicle onboard sensors and configured to appear to said at least one vehicle onboard sensor as if said visible calibration component was positioned at a predetermined linear calibration distance from said vehicle which is greater than said first calibration distance;wherein at least one of said plurality of calibration components is an optical calibration component visible to said at least one optical sensor unit; andwherein at least one of said plurality of calibration components is a radar target component configured to transform an emitted radar signal from said radar sensor unit into a return signal by conveyance along a non-linear signal pathway from a signal entry to a signal exit, said non-linear signal pathway comprising only passive elements altering a travel direction of said emitted signal such that said return signal appears to said radar sensor unit as if said radar target component is ...

MEMS GYROSCOPE CONTROL CIRCUIT

A microelectromechanical system (MEMS) gyroscope includes a driving mass and a driving circuit that operates to drive the driving mass in a mechanical oscillation at a resonant drive frequency. An oscillator generates a system clock that is independent of and asynchronous to the resonant drive frequency. A clock generator circuit outputs a first clock and a second clock that are derived from the system clock. The drive loop of the driving circuit including an analog-to-digital converter (ADC) circuit that is clocked by the first clock and a digital signal processing (DSP) circuit that is clocked by the second clock. 1. A control circuit for driving a driving mass of a microelectromechanical system (MEMS) gyroscope in a mechanical oscillation at a resonant drive frequency , comprising:an analog sensing circuit configured to sense the mechanical oscillation;a digital circuit clocked by a digital clock signal and configured to process output from the analog sensing circuit and generate a drive signal for application to cause movement of the driving mass;an oscillator configured to generate a system clock independent of and asynchronous to the resonant drive frequency; anda clock generator circuit configured to generate the digital clock signal from the system clock.2. The control circuit of claim 1 , wherein the digital circuit is an analog-to-digital converter (ADC) circuit.3. The control circuit of claim 1 , wherein the digital circuit is a digital signal processor (DSP) circuit.4. The control circuit of claim 1 , wherein the analog sensing circuit comprises:an analog front end circuit configured to generate an analog sinusoid signal having a frequency corresponding to a frequency of the mechanical oscillation of the driving mass and an amplitude corresponding to an amplitude of the mechanical oscillation of the driving mass; andan analog signal processing circuit configured to generate an oscillation clock signal from the analog sinusoid signal and demodulate the ...

INDOOR/OUTDOOR DETECTION USING WIRELESS SIGNALS

An electronic device may utilize various methods or systems to determine whether the electronic device is indoors or outdoors. The electronic device transmits wireless signals (e.g., radio detection and ranging (RADAR) signals). The electronic device receives reflections of the wireless signals. Using these received reflections of the wireless signals, the electronic device determines whether a power amplitude of the reflections is greater than or equal to a threshold value. In response to a determination that the power amplitude is not greater than or equal to the threshold value, the electronic device operates in an outdoor mode or an indoor mode. 1. A method , comprising:transmitting wireless signals from an electronic device;receiving reflections of the wireless signals at the electronic device;determining whether a power amplitude of the reflections is greater than or equal to a threshold value; andin response to a determination that the power amplitude is not greater than or equal to the threshold value, operating the electronic device in an outdoor mode.2. The method of claim 1 , wherein transmitting the wireless signals comprises transmitting the wireless signals in an upward direction from the electronic device.3. The method of claim 2 , wherein the wireless signals comprise radio detection and ranging signals.4. The method of claim 2 , comprising detecting an orientation of the electronic device to determine which direction is the upward direction.5. The method of claim 1 , wherein transmitting the wireless signals from the electronic device comprises broadcasting from multiple directions using multiple transmitters located at multiple locations in or on the electronic device.6. The method of claim 1 , wherein the outdoor mode comprises:initiating calibration of a barometer of the electronic device; ordetecting an altitude of the electronic device using outdoor settings and the barometer.7. The method of claim 1 , wherein the outdoor mode comprises ...

METHOD OF FABRICATING MICRO-GLASSBLOWN GYROSCOPES

A method of making a Coriolis vibratory gyroscope with a three dimensional mushroom resonator element includes defining a cavity in a substrate wafer; bonding a cap wafer onto the substrate over the cavity from which cap wafer the resonator element will be formed; heating the substrate and cap wafer to generate a pressure build-up within the cavity; plastically deforming the cap wafer by the pressure build-up to form the mushroom resonator element having a perimeter around the mushroom resonator element; releasing the three dimensional mushroom resonator element at the perimeter by selectively removing material so that the perimeter of mushroom resonator element is free to vibrate; and disposing a layer of conductive material on the mushroom resonator element to form electrodes thereon for use in driving and sensing vibrations of the mushroom resonator element and its perimeter. A microgyroscope made by such a method is also included within the embodiments. 1. A method of making a Coriolis vibratory gyroscope with a three dimensional mushroom resonator element comprising:defining a cavity in a substrate wafer;bonding a cap wafer onto the substrate over the cavity from which cap wafer the mushroom resonator element will be formed;heating the substrate and cap wafer to generate a pressure build-up within the cavity;plastically deforming the cap wafer by the pressure build-up to form the mushroom resonator element having a perimeter around the mushroom resonator element;releasing the three dimensional mushroom resonator element at the perimeter by selectively removing material so that the perimeter of mushroom resonator element is free to vibrate; anddisposing a layer of conductive material on the mushroom resonator element to form electrodes thereon for use in driving and sensing vibrations of the mushroom resonator element and its perimeter.2. The method of where releasing the three dimensional mushroom resonator element comprises etching a circular trench into the ...

CALIBRATION DEVICE AND CALIBRATION METHOD FOR A LASER BEAM HORIZONTAL TRUENESS TESTING DEVICE

Calibration device and calibration method for calibration of a laser beam horizontal trueness testing device whereby the calibration device comprises an elongated support body for support of an elongated laser housing with a longitudinal axis and a laser source, whereby a laser beam is emittable in a direction of the longitudinal axis. According to the calibration method, calibration parameters are determined based on at least three impinging positions of the laser beam of the laser housing for at least two different rotational positions of the laser housing in a first face and at least one position of the laser housing in a second opposing face. 2. The calibration device as claimed in claim 1 , wherein: are made of high-speed steel, glass or ceramics, and/or', 'are single piece units and/or', {'sup': −6', '−1, 'are made of a material with a coefficient of thermal expansion in the range of 0 to 9·10K,'}], 'the laser housing and/or the support body are precision ground, smooth and surface hardened, wherein the laser housing and/or the support bodyand/or both ends of the laser housing are enclosed by a sleeve each, whereby the sleeves are precision ground, smooth and surface hardened, wherein each sleeve is designed as the race of a bearing or as a fixed ball bearing.3. The calibration as claimed in claim 1 , wherein:the points of support form lines parallel to the inserted direction whereforethe support body is designed as a block with a v-shaped support array and the laser housing is designed as a straight cylinder orthe support body is designed as a u-shaped support array or as two bars parallel to each other and to the inserted direction, and the laser housing is designed as a straight cylinder or a straight prism,and/or the points of support are designed as single points spaced to each other wherefore the support body comprises single spheres providing the points of support.4. The calibration device as claimed in claim 1 , wherein:the laser source is designed as ...

METHOD FOR CALIBRATING VIBRATORY GYROSCOPE

The present invention is concerned with a method of calibrating a vibrating gyroscope. The method comprises exciting a vibration along an excitation axis of a resonant structure wherein the excitation axis is positioned at a first angular position, sensing the vibration of the resonant structure on a first sensing axis of the resonant structure while the excitation axis is positioned at the first angular position, generating a first sensing signal indicative of the sensed vibration of the resonant structure on the first sensing axis, rotating the excitation axis in a continuous manner around the resonant structure to a second angular position, sensing the vibration of the resonant structure on a second sensing axis of the resonant structure while the excitation axis is positioned at the second angular position, generating a second sensing signal indicative of the sensed vibration of the resonant structure on the second sensing axis and adding the first sensing signal to the second sensing signal in order to derive a bias of the gyroscope.

MULTIPLE SENSOR INTEGRATION

A method of compensating for signal error is described, comprising: receiving a first signal from a first sensor, said first signal indicative of a movement characteristic; applying an error compensation to said first signal to produce an output signal; applying a variable gain factor to said error compensation; receiving a second signal from a second sensor indicative of said movement characteristic; wherein said error compensation is calculated using the difference between said output signal and said second signal, and said variable gain factor is calculated using said first signal. 1. A method of compensating for sensor signal error , comprising:receiving a first signal from a first sensor, said first signal indicative of a movement characteristic;applying an error compensation to said first signal to produce an output signal;applying a variable gain factor to said error compensation;receiving a second signal from a second sensor indicative of said movement characteristic;wherein said error compensation is calculated using the difference between said output signal and said second signal, and said variable gain factor is calculated using said first signal.2. The method as claimed in claim 1 , wherein said first signal and said second signal are each from a gyroscope or accelerometer claim 1 , and said movement characteristic is angular rate.3. The method as claimed in claim 1 , wherein said first sensor is a different type of sensor claim 1 , or has different characteristics than said second sensor.4. The method as claimed in claim 1 , wherein said first sensor exhibits a lower high frequency noise than said second sensor.5. The method as claimed in claim 1 , wherein said second sensor exhibits better bias claim 1 , scale factor or long-term stability.6. The method as claimed in claim 1 , wherein said gain factor is varied as a function of one or more operating conditions corresponding to said movement characteristic.7. The method as claimed in claim 6 , wherein ...

PHYSICAL ORIENTATION CALIBRATION FOR MOTION AND GESTURE-BASED INTERACTION SEQUENCE ACTIVATION

The presentation of interaction sequences to a user on a mobile communications device is disclosed. A first external input corresponding to a triggering of an interaction sequence delivery is received on a first input modality. An overlay is displayed in a graphical user interface in response to receiving the external input. Interaction sequence invocation instructions are displayed within the overlay. A second external input is received on a second input modality different from the first input modality. The second external input is translated to a set of quantified values. An interaction sequence results content is then displayed within the overlay in response to a substantial match between the set of quantified values translated from the received second external input to the set of predefined values corresponding to the interaction sequence invocation instructions.

ROTATION RATE SENSOR AND METHOD FOR CALIBRATING A ROTATION RATE SENSOR

A rotational rate sensor is provided having a substrate and a Coriolis element, the rotational rate sensor having a drive means for exciting the Coriolis element to a Coriolis oscillation, and the rotational rate sensor having a detection device for producing a sensor signal as a function of a deflection of the Coriolis element relative to the substrate on the basis of a Coriolis force acting on the Coriolis element, and in addition the rotational rate sensor being configured to carry out a self-calibration when a rotational acceleration signal produced as a function of the sensor signal falls below a specified threshold value. 111-. (canceled)12. A rotational rate sensor , comprising:a substrate;a Coriolis element;a driver to excite the Coriolis element to a Coriolis oscillation; anda detection device to produce a sensor signal as a function of a deflection of the Coriolis element relative to the substrate based on a Coriolis force acting on the Coriolis element;wherein the rotational rate sensor is configured to carry out a self-calibration when a rotational acceleration signal produced as a function of the sensor signal falls below a threshold value.13. The rotational rate sensor as recited in claim 12 , further comprising:a comparator to compare the rotational acceleration signal to the threshold value.14. The rotational rate sensor as recited in claim 12 , further comprising:at least one of: i) a difference value formation unit configured to produce the rotational acceleration signal from a difference between at least two sensor values of the sensor signal; and ii) a differentiator that is configured to produce the rotational acceleration signal from a mathematical derivative of the sensor signal.15. The rotational rate sensor as recited in claim 12 , further comprising:an intermediate storage device configured to store a multiplicity of sensor values of the sensor signal during execution of the self-calibration, the intermediate storage device being configured ...

NINETY-DEGREE PHASE SHIFTER CIRCUIT AND CORRESPONDING NINETY-DEGREE PHASE-SHIFTING METHOD

A phase shifter, which carries out a ninety-degree phase shift of a sinusoidal input signal having an input frequency, at the same input frequency, envisages: a continuous-time all-pass filter stage, which receives the sinusoidal input signal and generates an output signal phase-shifted by 90° at a phase-shift frequency that is a function of a RC time constant of the all-pass filter stage; and a calibration stage, which is coupled to the all-pass filter stage and generates a calibration signal for the all-pass filter stage, such that the phase-shift frequency is equal to the input frequency of the sinusoidal input signal, irrespective of variations of the value of the input frequency and/or of the RC time constant with respect to a nominal value. 1. A phase-shifter circuit , comprising:a continuous-time all-pass filter stage configured to receive a sinusoidal input signal and generate an output signal phase-shifted by 90° at a phase-shift frequency that is a function of a RC time constant of said all-pass filter stage; anda calibration stage coupled to the all-pass filter stage and configured to generate a calibration signal for said all-pass filter stage such that the phase-shift frequency is substantially equal to an input frequency of the sinusoidal input signal.2. The circuit according to claim 1 , wherein said all-pass filter stage includes a variable capacitive element that determines said RC time constant claim 1 , wherein said calibration signal is configured to vary a value of capacitance of said variable capacitive element.3. The circuit according to claim 1 , said all-pass filter stage including:a fully differential operational amplifier having first and second differential input terminals, and first and second differential output terminals;a first gain resistor, the first differential input terminal being coupled to a first input terminal of said phase-shifter circuit via the first gain resistor;a first variable capacitor coupled in series with a first ...

Measurement device and program

This measurement device for measuring the angular velocity or acceleration of a two-wheel vehicle, is provided with a main detection unit which detects the three-axis angular velocity or three-axis acceleration, a support unit which can support the main detection unit on the body of the two-wheel vehicle, and a correction unit which cancels the lean of the body to the left and right in the main detection unit.

METHOD AND TEST SYSTEM FOR SENSOR FUSION POSITIONING TESTING

A test system for testing the positioning functionality of a device under test (DUT) is provided. The test system includes a high precision global navigation satellite system (GNSS) simulator configured to simulate real-time kinematic (RTK) signals. The test system further includes a sensor simulator configured to simulate ideal sensor signals, and a sensor error model unit. The sensor error model unit is further configured to simulate sensor errors based on a real sensor datasheet. The simulated ideal sensor signals are combined with the simulated sensor errors to form real simulation signals. 1. A test system for testing the positioning functionality of a device under test (DUT) , comprising:a high precision global navigation satellite system (GNSS) simulator configured to simulate real-time kinematic (RTK) signals;a sensor simulator configured to simulate ideal sensor signals; anda sensor error model unit; andwherein the sensor error model unit is further configured to simulate sensor errors based on a real sensor datasheet, andwherein the simulated ideal sensor signals are combined with the simulated sensor errors to form real simulation signals.2. The test system according to claim 1 , wherein the ideal signals are of one or more of an inertial measurement unit (IMU) sensor claim 1 , a barometer sensor claim 1 , an odometer sensor and a magnetometer sensor.3. The test system according to claim 1 , wherein the simulated sensor errors include at least package to frame misalignment claim 1 , inter-axis misalignment claim 1 , sensitivity error claim 1 , bias and noise.4. The test system according to claim 1 , wherein one or more of the simulated ideal sensor signals and the real simulation signals are configured to be used by the DUT to perform positioning calculations.5. The test system according to claim 1 , wherein one or more of the simulated ideal sensor signals and the real simulation signals are configured to simulate a specific condition that triggers a ...

SYSTEMS AND METHODS FOR ANNOTATING MAPS TO IMPROVE SENSOR CALIBRATION

System, methods, and other embodiments described herein relate to improving calibration of an onboard sensor of a vehicle. In one embodiment, a method includes, in response to acquiring sensor data from a surrounding environment of the vehicle using the onboard sensor, analyzing the sensor data to determine calibration parameters for the onboard sensor. The method includes identifying a suitability parameter that characterizes how well the surrounding environment provides for determining the calibration parameters. The method includes generating annotations within a map that specify at least the suitability parameter for a location associated with the sensor data. In further aspects, the method includes identifying, from the map, a calibration route for the vehicle that is a deviation from a current route in response to determining that the calibration state of the onboard sensor does not satisfy the calibration threshold. 1. A calibration system for improving calibration of an onboard sensor of a vehicle , comprising:one or more processors; a calibration module including instructions that when executed by the one or more processors cause the one or more processors to, in response to acquiring sensor data from a surrounding environment of the vehicle using the onboard sensor, analyze the sensor data to determine calibration parameters for the onboard sensor; and', 'an annotation module including instructions that when executed by the one or more processors cause the one or more processors to identify a suitability parameter that characterizes how well the surrounding environment provides for determining the calibration parameters, wherein the annotation module includes instructions to generate annotations within a map that specify at least the suitability parameter for a location associated with the sensor data., 'a memory communicably coupled to the one or more processors and storing2. The calibration system of claim 1 , wherein the annotation module includes ...

NAVIGATION SYSTEM AND A VEHICLE INCLUDING THE NAVIGATION SYSTEM

A navigation system includes a Coriolis vibratory gyroscope, a voltage input supply, and a controller. The voltage input supply is configured to supply a first voltage input to the Coriolis vibratory gyroscope at a first bias voltage, and supply a second voltage input to the Coriolis vibratory gyroscope at a second bias voltage, the second bias voltage being different than the first bias voltage. The controller is configured to detect a difference in responses of the Coriolis vibratory gyroscope to the first bias voltage and the second bias voltage, and determine a gyro rate of the Coriolis vibratory gyroscope as a function of the difference in responses and a correction term. 1. A navigation system comprising:a Coriolis vibratory gyroscope;a voltage input supply configured tosupply a first voltage input to the Coriolis vibratory gyroscope at a first bias voltage, andsupply a second voltage input to the Coriolis vibratory gyroscope at a second bias voltage, the second bias voltage being different than the first bias voltage; anda controller configured to detect a difference in responses of the Coriolis vibratory gyroscope to the first bias voltage and the second bias voltage, and determine a gyro rate of the Coriolis vibratory gyroscope as a function of the difference in responses and a correction term.2. The navigation system of claim 1 , wherein the Coriolis vibratory gyroscope outputs a first response in response to the first bias voltage and a second response in response to the second bias voltage and the correction term represents a sum of the time dependent instrument bias in the first response and the second response.3. The navigation system of claim 1 , wherein the controller is configured to determine the gyro rate of the Coriolis vibratory gyroscope independent of a scale factor of the Coriolis vibratory gyroscope.4. The navigation system of claim 1 , wherein the correction term is a predetermined constant value based on an initial voltage output and ...

Gyroscope conditioning and gyro-camera alignment

An apparatus and method for generating parameters for an application, such as an augmented reality application (AR app), using camera pose and gyroscope rotation is disclosed. The parameters are estimated based on pose from images and rotation from a gyroscope (e.g., using least-squares estimation with QR factorization or a Kalman filter). The parameters indicate rotation, scale and/or non-orthogonality parameters and optionally gyroscope bias errors. In addition, the scale and non-orthogonality parameters may be used for conditioning raw gyroscope measurements to compensate for scale and non-orthogonality.

LASER-DRIVEN OPTICAL GYROSCOPE WITH PUSH-PULL MODULATION

A system and method for reducing coherent backscattering-induced errors in an optical gyroscope is provided. A first time-dependent phase modulation is applied to a first laser signal and a second phase modulation is applied to a second laser signal. The phase-modulated first laser signal propagates in a first direction through a waveguide coil and the phase-modulated second laser signal propagates in a second direction opposite the first direction through the waveguide coil. The first time-dependent phase modulation is applied to the phase-modulated second laser signal after the phase-modulated second laser signal propagates through the waveguide coil to produce a twice-phase-modulated second laser signal. The second time-dependent phase modulation is applied to the phase-modulated first laser signal after the phase-modulated first laser signal propagates through the waveguide coil to produce a twice-phase-modulated first laser signal. The twice-phase-modulated first and second laser signals are transmitted to a detector. 1. A method of reducing coherent backscattering-induced errors in an output of an optical gyroscope , the method comprising:splitting laser light into a first laser signal and a second laser signal;applying a first time-dependent phase modulation to the first laser signal to produce a phase-modulated first laser signal;applying a second phase modulation to the second laser signal to produce a phase-modulated second laser signal, the second time-dependent phase modulation substantially equal in amplitude and of opposite phase with the first time-dependent phase modulation;propagating the phase-modulated first laser signal in a first direction through a waveguide coil;propagating the phase-modulated second laser signal in a second direction through the waveguide coil, the second direction opposite to the first direction;applying the first time-dependent phase modulation to the phase-modulated second laser signal after the phase-modulated second ...

MEASURING DEVICE HAVING A FUNCTION FOR CALIBRATING A DISPLAY IMAGE POSITION OF AN ELECTRONIC RETICLE

Some embodiments of the invention relate to a measuring device, in particular a video theodolite or video tachymeter. The measuring device may include a base, a support, a telescope optics having a lens, a physical target marking, an eyepiece, and a camera. The measuring device may also include an evaluation and control unit containing stored calibration parameters with respect to an image position indicating the target direction as target image position in the captured image, and a display for displaying a captured image having marking for the target image position. In some embodiments, a function may be included to respect and/or restore. In some embodiments, the function may be in form of an application on the user-device interface that can be called up. 115-. (canceled)16. A surveying device , comprising:a base;a support, which is pivotable in relation to the base about a first axis; an objective,', 'a physical targeting marking defining a targeting direction,', 'an ocular, and', 'a camera for recording an image through the objective;, 'a targeting unit, which is pivotable in relation to the support about a second axis, having telescope optics defining an optical beam path having'}goniometers for measuring pivot positions of the support and the targeting unit;an analysis and control unit, which contains stored calibration parameters with respect to an image position indicating the targeting direction in the recorded image as the targeting image position; anda display screen for displaying a recorded image with marking for the targeting image position,wherein a partially automatic function for checking and/or recalibrating the targeting image position,wherein a sequence is defined for the function and corresponding items of sequence information are stored for this purpose in the analysis and control unit, during which sequence targeting actions of an identical target are successively performed at least once using the physical targeting marking and at least once ...

OPPORTUNISTIC CALIBRATION OF A SMARTPHONE ORIENTATION IN A VEHICLE

An opportunistic calibration method continuously monitors a smartphone orientation and compensates for its variation, as necessary. The method relies on the probabilistic fusion of built-in sensors; in particular, the GPS, accelerometer, gyroscope, and magnetometer. The calibration method may utilize a state-machine approach along with an orientation stability detection algorithm to keep track of the smartphone orientation over time and to coordinate the calibration process in an opportunistic manner. An orientation calibration method may rely mainly on the probabilistic fusion of GPS and magnetometer sensory data. 1. A method for calibrating a relative orientation of a smartphone in a vehicle including the steps of:a) determining a stability of the orientation of the smartphone based upon first sensory data;b) collecting second sensory data;c) estimating the relative orientation of the smartphone based upon the second sensory data collected in said step b) while the orientation of the smartphone was determined to be stable in said step a).2. The method of further including the step of receiving accelerometer data from an accelerometer in the smartphone and re-orienting the accelerometer data based upon said step c).3. The method of wherein the first sensory data in said step a) includes rates of rotation from a gyroscope in the smartphone.4. The method of wherein said step a) further includes the steps of comparing the first sensory data to a low threshold value to detect potential instability claim 1 , and validating the instability to determine whether the orientation is stable.5. The method of wherein the step of validating includes the step of comparing a recent sample of the first sensory data to an average of the first sensory data.6. The method of wherein the step of validating includes the step of determining instability based upon the recent sample exceeding the average by more than a threshold.7. The method of wherein the second sensory data includes GPS ...

METHOD AND APPARATUS FOR DIAGNOSING INERTIA SENSOR

A control system adapted to be mounted on a motor vehicle for control of a motor vehicle system in accordance with the inertial state of the motor vehicle. The control system includes an inertial sensor providing an inertial measurement output in accordance with the inertial state of the motor vehicle, where the inertial measurement output is referenced to a reference voltage. A controller is provided for controlling the motor vehicle system at least partially in accordance with the inertial measurement output. The controller includes a circuit for comparing the reference voltage used by the inertial sensor to a nominal voltage. The circuit causes the controller to discontinue use of the inertial measurement output when the reference voltage deviates from the nominal voltage. 1. Apparatus for providing inertial measurements , comprising an inertial sensor providing an inertial measurement output referenced to a reference value , and a circuit for evaluating the reference value and for selectively using the inertial measurement output in response to said evaluation.2. Apparatus as set forth in claim 1 , wherein an inertial measurement output equal to said reference value denotes zero angular rate of said sensor.3. Apparatus as set forth in claim 1 , wherein said evaluating circuit accepts or rejects said inertial measurement output in response to said evaluation.4. Apparatus as set forth in claim 1 , wherein said evaluation circuit rejects said inertial measurement output unless said reference is at or near a nominal value.5. Apparatus as set forth in claim 1 , wherein said inertial sensor is adapted to be powered by a DC power signal that is single ended claim 1 , and said reference is generally midway between said DC power signal and ground.6. A control system adapted to be mounted on a motor vehicle for control of a motor vehicle system in accordance with the inertial state of the motor vehicle claim 1 , comprising:an inertial sensor providing an inertial ...

SYSTEMS AND PROCESSES FOR CALIBRATING UNMANNED AERIAL VEHICLES

An unmanned aerial vehicle and process for automatically calibrating the unmanned aerial vehicle having at least one magnetic sensor is described. The calibration process involves receiving an internal or external control command to initiate a take-off process by the unmanned aerial vehicle. A hover mode maintains the unmanned aerial vehicle at hover position, and a calibration rotation sequence rotates the unmanned aerial vehicle. The calibration process further involves receiving measurement data from sensors of the unmanned aerial vehicle during the calibration rotation sequence and calculating calibration parameters using the measurement data. The calibration process may implement corrections using the calibration parameters. 1. An unmanned aerial vehicle comprising:a frame;an operations control to control operation of the unmanned aerial vehicle;a calibration control to initiate automatic calibration of the unmanned aerial vehicle by a hover mode for maintaining the unmanned aerial vehicle at hover position, and a calibration rotation sequence for rotating the unmanned aerial vehicle around at least one axis of the frame;flight control and navigation control for controlling motion of the unmanned aerial vehicle to implement the hover mode and the calibration rotation sequence;sensors to obtain measurement data during the calibration rotation sequence, wherein the sensors include at least one magnetic sensor for calibration;a calibration calculator to calculate calibration parameters using the measurement data obtained during the calibration rotation sequence.2. The unmanned aerial vehicle of wherein the calibration control updates or corrects measurement or compensation values of the magnetic sensor or other instrument using the calibration parameters.3. The unmanned aerial vehicle of wherein the calibration parameters comprise a bias factor and a scale factor.4. The unmanned aerial vehicle of further comprising a communication device to transmit the ...

Method and system for finding handling trolleys

System for finding at least one mobile trolley in a locale, the system including at least one communication beacon which has a range covering the locale and which is connected to a computer control unit, and at least one electronic module mounted on the trolley and including a transmission device arranged to transmit position data to the communication beacon, and an inertial motion detection hub that includes a device for detecting linear motion along axes of a detection reference system and a device for detecting angular motion about the axes of the detection reference system and that is arranged to provide position data on the basis of linear motion measurement data and angular motion measurement data, the module being mounted on an element of the trolley such that any movement of the trolley within the locale causes angular movement of the element, the system being arranged to detect when the trolley is stopped when the angular motion measurement data correspond to zero angular motion at one measurement instant and being arranged to set to zero speeds calculated on the basis of the linear motion measurement data corresponding to the same measurement instant.

SYSTEM WITH OVEN CONTROL AND COMPENSATION FOR DETECTING MOTION AND/OR ORIENTATION

Motion and/or orientation sensing systems can utilize gyroscopes, accelerometers, magnetometers, and other sensors for measuring motion or orientation of connected objects. Temperature changes affect the precision of the data output by the motion/orientation sensing device. A system is provided for controllably heating a device within a package to a desired temperature that varies based on the ambient temperature. The operating temperature of the device can then be known and controlled. The ambient temperature can be known through an ambient temperature sensor, for example. Given this information, a controller compensates the data output by the device to further improve the accuracy in the measurements. Like the amount of heating provided to the package, the amount of compensation is also based on the ambient temperature and/or the device temperature. 1. A system for improving accuracy in a motion or orientation sensing device , the system comprising:an isolation platform having a device mounting region and an isolation structure providing mechanical and electrical connections between the device and components not located on the device-mounting region;a heat source disposed on the isolation platform;a device disposed on the isolation platform; andat least one internal temperature sensor disposed in a local area on the isolation platform adjacent the device and configured to detect a temperature of the local area; receive internal temperature signals from the at least one internal temperature sensor indicating the temperature of the local area,', 'receive signals indicating an ambient temperature of an ambient environment,', 'control the heat source to achieve a desired temperature of the local area,', 'receive signals from the device, and', 'compensate the received signals from the device by a compensation factor that varies based on a combination of the temperature of the local area and the ambient temperature., 'at least one controller programmed to2. The system ...

Optical sensor for odometry tracking to determine trajectory of a wheel

An optical sensor system for determining trajectory of a car, the optical sensor system being mounted in a wheel arch of the car, includes: a plurality of optical sensors mounted in the wheel arch above a wheel, the optical sensors being located behind a plurality of clear casings that do not touch the wheel, for performing a plurality of counts corresponding to respectively capturing a plurality of images of the wheel according to an outer surface of the wheel evenly covered with wheel treads. The captured images are compared with a reference image to determine a 2D displacement of the wheel from its original position. This measured 2D displacement is converted into a distance the wheel travels along a path, and the wheel trajectory is determined by calculating a turning degree of the wheel according to a trigonometric manipulation of the captured 2D displacement.

System and Method for Attitude Correction

A system and method for attitude correction is provided. An acceleration and an attitude of an electronic device are detected. A period of time where a velocity of the electronic device at the beginning of the period of time and a velocity of the electronic device at the end of the period of time are equal is identified. An attitude correction is calculated based on the identified period of time and the detected acceleration of the electronic device during the period of time. The detected attitude of the electronic device is corrected with the calculated attitude correction. 1. A computer-implemented method for attitude correction , the method comprising:detecting an acceleration and an attitude of an electronic device;identifying a period of time wherein a velocity of the electronic device at the beginning of the period of time and a velocity of the electronic device at the end of the period of time are equal;calculating an attitude correction based on the identified period of time and the detected acceleration of the electronic device during the period of time; andcorrecting the detected attitude of the electronic device with the calculated attitude correction.2. The computer-implemented method of claim 1 , wherein the electronic device is in a static state at the beginning of the period of time and the end of the period of time.3. The computer-implemented method of claim 2 , wherein identifying the period of time comprises:periodically storing a detected acceleration value in a signal queue at a first time interval;for each detected acceleration value over a second time interval, comparing a difference between the detected acceleration value and a previously stored acceleration value with a threshold value; anddesignating the beginning of the second time interval as the beginning of the period of time and the end of the second time interval as the end of the period of time if the differences between the detected acceleration values and the previously stored ...

METHOD OF CALIBRATING A HEADING REFERENCE SYSTEM

A method of calibrating a vehicle's heading system, such as the attitude heading and reference system of an aircraft or the heading system of a ship, positioned along the Earth's surface involves obtaining both actual and theoretical readings for the magnetometer of the heading system, and comparing these values to obtain calibration values for the heading system which are then averaged to obtain a universal average gain and offset for the magnetometer. The vehicle may be repositioned, such as to North, South, East, and west magnetic headings, with the procedure repeated at each of these headings, and the calibration values averaged, further increasing the accuracy. 1. A method for calibrating an aircraft attitude and reference heading system comprising at least one magnetometer , the method comprising the steps of:selectively positioning an aircraft on the ground along the Earth's surface;obtaining an actual reading from the at least one magnetometer at a selected magnetic heading for the positioned aircraft while the aircraft is stationary on the ground;obtaining a set of theoretical magnetic field properties of the Earth at a location of the positioned aircraft, the obtained theoretical magnetic field properties comprising theoretical values for a horizontal intensity and a vertical intensity of the magnetic field at the location of the positioned aircraft;computing a theoretical reading for the at least one magnetometer at the selected magnetic heading of the positioned aircraft based on at least the magnetic heading, the associated attitude for the positioned aircraft, and the obtained theoretical values for the magnetic field at the location of the positioned aircraft;comparing the obtained actual reading from the at least one magnetometer for the positioned aircraft at the magnetic heading with the obtained theoretical magnetometer reading at the magnetic heading for providing a calibration value for the heading system at the magnetic heading for the ...

VIBRATING-MASS GYROSCOPE SYSTEMS AND METHOD

One embodiment of the invention includes a vibrating-mass gyroscope system. The system includes a sensor system comprising a vibrating-mass and a plurality of electrodes coupled to the vibrating-mass that are configured to facilitate in-plane motion of the vibrating-mass. The system also includes a gyroscope controller configured to generate a drive signal that is provided to a first set of the plurality of electrodes to provide an in-plane periodic oscillatory motion of the vibrating-mass along a drive axis, to generate a force-rebalance signal that is provided to a second set of the plurality of electrodes to calculate a rotation of the vibrating-mass gyroscope system about an input axis, and to generate a quadrature signal that is provided to a third set of the plurality of electrodes to substantially mitigate quadrature effects associated with the vibrating-mass. 1. A method for calculating rotation about an input axis in a vibrating-mass gyroscope system , the method comprising:monitoring a drive pickoff signal associated with a set of drive electrode shuttles that is coupled to a vibrating-mass;providing a drive signal to the set of drive electrode shuttles to provide an in-plane periodic oscillatory motion of the vibrating-mass;monitoring a force-rebalance pickoff signal associated with a set of sense electrode shuttles that is coupled to the vibrating-mass;providing a force-rebalance signal to the set of sense electrode shuttles based on the force-rebalance pickoff signal to calculate a rotation of the vibrating-mass gyroscope system about the input axis; andproviding a quadrature signal to a set of quadrature electrode shuttles that is coupled to the vibrating-mass to substantially mitigate quadrature effects.2. The method of claim 1 , wherein the vibrating-mass is configured in an octagonal shape claim 1 , wherein the set of drive electrode shuttles comprises a pair of drive electrode shuttles arranged opposite each other with respect to the vibrating-mass ...

METHOD AND SYSTEM FOR CALIBRATING COMPONENTS OF AN INERTIAL MEASUREMENT UNIT (IMU) USING SCENE-CAPTURED DATA

A method and a system for calibrating an inertial measurement unit (IMU) via images of a calibration target are provided herein. The method may include: measuring parameters via an IMU; capturing a plurality of calibration images of a scene that contains at least one calibration target, wherein the calibration images are taken from different locations and/or orientations, wherein each of the calibration images shares a common calibration target with at least one other calibration image; calculating, based on the at least one common calibration target, a position and orientation of the sensing device relative to the calibration target, for each location of the capturing of the calibration images; and calibrating the IMU by comparing relative motion between two of the calibration images based on the calculated relative position and orientation, to measurements of the parameters taken by the IMU in time ranges corresponding to the at least two calibration images. 1. A system comprising:an inertial measurement unit (IMU) configured to measure parameters;a sensing device coupled to said IMU, wherein the sensing device is configured to capture a plurality of calibration images of a scene that contains at least one calibration target, wherein the calibration images are taken from different locations and/or orientations, wherein each of the calibration images shares at least one common calibration target with at least one other calibration image; and calculate, based on the at least one common calibration target, a position and/or orientation of said sensing device relative to said calibration target, for each location of the capturing of the calibration images; and', 'calibrate at least one component of the IMU by comparing relative motion between at least two of the calibration images based on at least one element of the calculated relative position or orientation, to measurements of said parameters taken by the IMU in time ranges corresponding to the at least two ...

METHOD AND SYSTEM FOR GYROSCOPE REAL-TIME CALIBRATION

A method for real-time calibration of a gyroscope, configured for supplying a value of angular velocity that is function of a first angle of rotation about a first angular-sensing axis that includes defining a time interval, acquiring from an accelerometer an equivalent value of angular velocity that can be associated to the first angle of rotation; calculating a deviation between the value of angular velocity and the equivalent value of angular velocity; iteratively repeating the previous steps through the time interval, incrementing or decrementing an offset variable by a first predefined value on the basis of the values assumed by the deviations during the iterations, and updating the value of angular velocity as a function of the offset variable. 1. A method , comprising: defining a discrete time interval including a plurality of temporal sub-units;', 'acquiring from an accelerometer, in a first temporal sub-unit of the plurality of temporal sub-units, respective values of acceleration along a first acceleration-sensing axis and a second acceleration-sensing axis of the accelerometer;', 'calculating, in said first temporal sub-unit, based on said acceleration values, an equivalent angular velocity corresponding to said first rotation angle;', 'calculating, in said first temporal sub-unit, a deviation between the angular velocity and said equivalent angular velocity;', 'updating a counter variable based on the deviation;', 'iteratively repeating the defining, the acquiring, the calculating the equivalent angular velocity, the calculating the deviation, and the updating of the counter variable for temporal sub-units of the plurality of temporal sub-units subsequent to the first temporal sub-unit up to the end of said time interval;', 'incrementing or decrementing an offset variable by a first value based on the counter variable; and', 'updating said angular velocity as a function of said offset variable., 'calibrating in real-time a gyroscope that is configured to ...

Mems device mechanism enhancement for robust operation through severe shock and acceleration

A micro-electro-mechanical systems (MEMS) device comprises at least one proof mass configured to have a first voltage and a motor motion in a first horizontal direction. At least one sense plate is separated from the proof mass by a sense gap, with the sense plate having an inner surface facing the proof mass and a second voltage different than the first voltage. A set of stop structures are on the inner surface of the sense plate and are electrically isolated from the sense plate. The stop structures are configured to prevent contact of the inner surface of the sense plate with the proof mass in a vertical direction. The stop structures have substantially the same voltage as that of the proof mass, and are dimensioned to minimize energy exchange upon contact with the proof mass during a shock or acceleration event.

MICRO HEMISPHERICAL RESONATOR GYROSCOPE, AND AN ASSEMBLY METHOD AND WAFER FIXTURE

A wafer-level assembly method for a micro hemispherical resonator gyroscope includes: after independently manufactured glass substrates are softened and deformed at a high temperature, forming a micro hemispherical resonator on the glass substrate; forming glass substrate alignment holes at both ends of the glass substrate by laser ablation; aligning and fixing a plurality of identical micro hemispherical resonators on a wafer fixture by using the alignment holes as a reference, and then performing operations by using the wafer fixture as a unit to implement subsequent processes that include: releasing the micro hemispherical resonators, metallizing the surface, fixing to the planar electrode substrates, separating the wafer fixture and cleaning to obtain a micro hemispherical resonator gyroscope driven by a bottom planar electrode substrate. The wafer-level assembly method includes: fixedly mounting the plurality of independently manufactured micro hemispherical resonators on the same wafer fixture to implement a wafer-level installation operation. 1. A wafer-level assembly method for a micro hemispherical resonator gyroscope , comprising the following steps:step 1, forming at least two through glass substrate alignment holes at edges of of each glass substrate of a plurality of glass substrates with a plurality of micro hemispherical resonators;step 2, aligning the plurality of glass substrates obtained after being processed in step 1 with a wafer fixture, respectively, and fixing the plurality of glass substrates on the wafer fixture by using an alignment pin to align the plurality of glass substrates and applying a pressure by using a flat plate;step 3, removing the flat plate and the alignment pin sequentially, and performing a removal processing on the plurality of glass substrates to obtain the plurality of micro hemispherical resonators fixed on the wafer fixture;step 4, after an overall structure of the wafer fixture and the plurality of micro hemispherical ...

SYSTEM AND METHOD FOR CALIBRATING A STEERING WHEEL NEUTRAL POSITION

System, methods, and other embodiments described herein relate to calibrating a steering wheel in a steering system of a vehicle. In one embodiment, the disclosed calibration system detects an object in front of the vehicle based on first data generated by one or more front sensors of the vehicle, detects the object to the rear of the vehicle based on second data generated by one or more rear sensors of the vehicle, determines a trajectory of the object based on the first data and output data from a steering wheel sensor, determines an estimate position of the object based on the trajectory, determines that the second data indicates a difference exists between the estimate position of the object and an actual position of the object, and determines a correction offset adjustment to apply to the output data from the steering wheel sensor based on the difference. 1. A calibration system of a vehicle , comprising:one or more front sensors configured to acquire information about an environment at least in front of the vehicle;one or more rear sensors configured to acquire information about an environment at least to a rear of the vehicle;a steering wheel sensor that generates output data indicating an angular position of a steering wheel of the vehicle;one or more processors; and a detection module including instructions that when executed by the one or more processors cause the one or more processors to detect an object based at least on first data generated by the one or more front sensors and determine a plurality of datapoints from at least the first data, each datapoint indicating at least a position of an instance of the object relative to the vehicle and a time of capture; and', 'a calibration module including instructions that when executed by the one or more processors cause the one or more processors to determine a trajectory of the object based at least in part on the plurality of datapoints, determine a predicted position of the object based on the trajectory ...

ROBUST METHOD FOR TUNING OF GYROSCOPE DEMODULATION PHASE

An optimal demodulation phase for extracting an in-phase component of a MEMS gyroscope output signal is determined through a test procedure. During the test procedure, multiple different rotation rate patterns such as different directions of rotation and different rotation rates are applied to the MEMS gyroscope while the MEMS gyroscope output signal is demodulated based on demodulation phases near a predicted quadrature phase for the MEMS gyroscope. The measured gyroscope outputs are used to calculate an optimal demodulation phase for the MEM gyroscope. 1. A method for determining an optimal demodulation phase of a microelectromechanical (MEMS) gyroscope , comprising:setting a first demodulation phase for the gyroscope;rotating the gyroscope at a first rate of rotation;measuring a first output of the gyroscope for the first rate of rotation and the first demodulation phase;rotating the gyroscope at a second rate of rotation;measuring a second output of the gyroscope for the second rate of rotation and the first demodulation phase;setting a second demodulation phase for the gyroscope;rotating the gyroscope at the first rate of rotation;measuring a third output of the gyroscope for the first rate of rotation and the second demodulation phase;rotating the gyroscope at the second rate of rotation;measuring a fourth output of the gyroscope for the second rate of rotation and second demodulation phase; anddetermining the optimal demodulation phase based on the first output, the second output, the third output, and the fourth output.2. The method of claim 1 , further comprising trimming the offset of the gyroscope prior to rotating the gyroscope.3. The method of claim 1 , wherein determining the optimal demodulation phase comprises:modifying each of the first output, the second output, the third output, and the fourth output based on a respective acquisition time for the acquisition for the respective output; anddetermining the optimal demodulation phase based on the ...

Surveying device

A surveying device 3 configured to perform a survey by tracking, as a survey target, a prism 13 attached to a camera 11 of a movable imaging device 2, includes an electronic distance meter 33 configured to measure a distance to the survey target; a horizontal angle detector 41 and a vertical angle detector 42 each configured to measure an angle; a main body 3a supporting these members; a time obtainer 47 configured to obtain a GPS time from a GPS satellite; a tilt sensor 48 configured to detect a posture of the main body 3a; a calibrator 49 configured to calibrate the tilt sensor 48; and a survey controller 40 that causes the calibrator 49 to perform calibration during a period in which the time obtainer 47 obtains the GPS time, as an advance preparation to be performed before the measurement.

INTEGRATED DATA REGISTRATION

A system and method for integrated data registration includes at least one host system and a first sensor where the first sensor provides a first input data. The system and method may further include a second sensor where the second sensor provides a second input data, a first navigation data source where the first navigation data source provides a third input data and a second navigation data source where the second navigation data source provides a fourth input data. The system and method may further include at least one non-transitory computer readable storage medium, in operative communication with the host system, first sensor, the second sensor, the first navigation source and the second navigation source, having at least one set of instructions encoded thereon that, when executed by at least one processor, performs operations to perform integrated data registration. 1. A system for integrated data registration comprising:at least one host system;a first sensor; wherein the first sensor provides a first input data;a second sensor; wherein the second sensor provides a second input data; logic to store the first input data and the second input data in separate files;', 'logic to time-align the second input data with the first input data;', 'logic to difference the time-aligned second input data with the first input data;', 'logic to estimate corrections to the first input data; and', 'logic to provide the first input data corrections to the at least one host system., 'at least one non-transitory computer readable storage medium, in operative communication with the host system, the first sensor and the second sensor, having at least one set of instructions encoded thereon that, when executed by at least one processor, performs operations to perform integrated data registration, and the instructions including2. The system of claim 1 , further comprising:a first navigation data source; wherein the first navigation data source provides a third input data; and logic ...

MOTION STATE MONITORING SYSTEM, TRAINING SUPPORT SYSTEM, METHOD FOR CONTROLLING MOTION STATE MONITORING SYSTEM, AND CONTROL PROGRAM

A motion state monitoring system including: a selection unit that selects one or a plurality of sensors from among a plurality of sensors associated with a plurality of respective body parts of a body of a subject based on one or a plurality of specified motions to be monitored; a calibration result determination unit that determines whether or not a calibration of each of at least the one or plurality of sensors selected by the selection unit has been completed; a calculation processing unit that generates a result of a calculation indicating a motion state of the subject based on a result of detection performed by each of the one or plurality of sensors selected by the selection unit when the calibration result determination unit determines that the calibration has been completed; and an output unit that outputs the result of the calculation performed by the calculation processing unit. 1. A motion state monitoring system comprising:a selection unit configured to select one or a plurality of sensors from among a plurality of sensors associated with a plurality of respective body parts of a body of a subject based on one or a plurality of specified motions to be monitored;a calibration result determination unit configured to determine whether or not a calibration of each of at least the one or plurality of sensors selected by the selection unit has been completed;a calculation processing unit configured to generate a result of a calculation indicating a motion state of the subject based on a result of detection performed by each of the one or plurality of sensors selected by the selection unit when the calibration result determination unit determines that the calibration has been completed; andan output unit configured to output the result of the calculation performed by the calculation processing unit.2. The motion state monitoring system according to claim 1 , wherein the calibration result determination unit is configured to determine that the calibration has ...

USER INTERFACE CONTROL OF RESPONSIVE DEVICES

Among other things, a user interface device has a sensor configured to detect, at a wrist of a human, nerve or other tissue electrical signals associated with an intended contraction of a muscle to cause a rapid motion of a finger. An output provides information representative of the nerve or other tissue electrical signals associated with the intended contraction of the muscle to an interpreter of the information. 1. (canceled)2. (canceled)3. (canceled)4. (canceled)5. The apparatus of in which the inertial measurement unit is calibrated using a calibration technique.6. The apparatus of in which the inertial measurement unit is configured to access a value corresponding to a reference point.7. The apparatus of in which the reference point is independent of the position of the inertial measurement unit.8. The apparatus of in which a vector provided by the inertial measurement unit is compared to a second vector that is calculated using the value corresponding to the reference point.9. The apparatus of in which the calibration technique is performed after a pre-defined number of spatial calculations of the inertial measurement unit.10. The apparatus of in which the calibration technique is performed in response to a command from the human.11. (canceled)12. (canceled)13. The apparatus of in which at least two of the user interfaces devices are configured to be worn by different humans and comprise wrist-worn devices.14. (canceled)15. The apparatus of in which the interpreter is configured to provide the interpreted outputs to a controller configured to effect the actions by altering presentations by the responsive devices.16. The apparatus of in which the interpreter is configured to provide the interpreted outputs to a controller configured to cause at least one of the responsive devices to perform a zoom.17. The apparatus of in which the zoom alters a presentation comprising a display.18. The apparatus of in which the interpreter is configured to provide the output ...

Inertial Measurement and Navigation System And Method Having Low Drift MEMS Gyroscopes And Accelerometers Operable In GPS Denied Environments

An inertial measurement unit includes physically distinct sectors positioned in groups of orthogonally oriented angle rate sensors on a different sector of a base having orthogonally oriented accelerometers positioned thereon. A processor receiving signals from the sensors and accelerometers calculates a change in attitude, position, angular rate, velocity, acceleration of the unit over a plurality of finite time increments, or a combination thereof. The gyros and accelerometers have low-drift measurement accuracy for operation in a GPS-denied environment by preselecting pairs of gyros for physical assignment to achieve low-drift accuracy, determining weights for the gyros to be combined in tiered pairs, preselecting the accelerometers for physical assignment in low-drift pairs, determining weights for accelerometer optimal low-drift pair combining in tiers, or a combination thereof. 1. A method for fabricating an inertial measurement unit (IMU) to achieve low-drift measurement accuracy for operation in a GPS-denied environment , the method comprising:(a) preselecting pairs of gyros for physical assignment within the IMU to achieve low-drift measurement accuracy;(b) calibrating each gyro within each gyro pair and orthogonalizing the gyro pairs to form a gyro frame;(c) preselecting individual accelerometers and assigning pairs of accelerometers for the IMU;(d) calibrating each accelerometer within each accelerometer pair and orthogonalizing the accelerometer pairs to form an accelerometer frame;(e) aligning the gyro and accelerometer frames with a body frame of the IMU;(f) applying a gyro weighting function to each gyro and combining the gyros in pairs exhibiting low drift; and(g) applying an accelerometer weighting function to each accelerometer and combining the accelerometers in pairs exhibiting low drift.2. The method according to claim 1 , wherein the preselecting pairs of gyros comprises:(a) from a batch of gyros (Bg), pre-selecting a first set (Ng) from the ...